Programmable motion of DNA origami mechanisms.

PubMed

Marras, Alexander E; Zhou, Lifeng; Su, Hai-Jun; Castro, Carlos E

2015-01-20

DNA origami enables the precise fabrication of nanoscale geometries. We demonstrate an approach to engineer complex and reversible motion of nanoscale DNA origami machine elements. We first design, fabricate, and characterize the mechanical behavior of flexible DNA origami rotational and linear joints that integrate stiff double-stranded DNA components and flexible single-stranded DNA components to constrain motion along a single degree of freedom and demonstrate the ability to tune the flexibility and range of motion. Multiple joints with simple 1D motion were then integrated into higher order mechanisms. One mechanism is a crank-slider that couples rotational and linear motion, and the other is a Bennett linkage that moves between a compacted bundle and an expanded frame configuration with a constrained 3D motion path. Finally, we demonstrate distributed actuation of the linkage using DNA input strands to achieve reversible conformational changes of the entire structure on ∼ minute timescales. Our results demonstrate programmable motion of 2D and 3D DNA origami mechanisms constructed following a macroscopic machine design approach.

Programmable motion of DNA origami mechanisms

PubMed Central

Marras, Alexander E.; Zhou, Lifeng; Su, Hai-Jun; Castro, Carlos E.

2015-01-01

DNA origami enables the precise fabrication of nanoscale geometries. We demonstrate an approach to engineer complex and reversible motion of nanoscale DNA origami machine elements. We first design, fabricate, and characterize the mechanical behavior of flexible DNA origami rotational and linear joints that integrate stiff double-stranded DNA components and flexible single-stranded DNA components to constrain motion along a single degree of freedom and demonstrate the ability to tune the flexibility and range of motion. Multiple joints with simple 1D motion were then integrated into higher order mechanisms. One mechanism is a crank–slider that couples rotational and linear motion, and the other is a Bennett linkage that moves between a compacted bundle and an expanded frame configuration with a constrained 3D motion path. Finally, we demonstrate distributed actuation of the linkage using DNA input strands to achieve reversible conformational changes of the entire structure on ∼minute timescales. Our results demonstrate programmable motion of 2D and 3D DNA origami mechanisms constructed following a macroscopic machine design approach. PMID:25561550

Visuomotor adaptation to a visual rotation is gravity dependent.

PubMed

Toma, Simone; Sciutti, Alessandra; Papaxanthis, Charalambos; Pozzo, Thierry

2015-03-15

Humans perform vertical and horizontal arm motions with different temporal patterns. The specific velocity profiles are chosen by the central nervous system by integrating the gravitational force field to minimize energy expenditure. However, what happens when a visuomotor rotation is applied, so that a motion performed in the horizontal plane is perceived as vertical? We investigated the dynamic of the adaptation of the spatial and temporal properties of a pointing motion during prolonged exposure to a 90° visuomotor rotation, where a horizontal movement was associated with a vertical visual feedback. We found that participants immediately adapted the spatial parameters of motion to the conflicting visual scene in order to keep their arm trajectory straight. In contrast, the initial symmetric velocity profiles specific for a horizontal motion were progressively modified during the conflict exposure, becoming more asymmetric and similar to those appropriate for a vertical motion. Importantly, this visual effect that increased with repetitions was not followed by a consistent aftereffect when the conflicting visual feedback was absent (catch and washout trials). In a control experiment we demonstrated that an intrinsic representation of the temporal structure of perceived vertical motions could provide the error signal allowing for this progressive adaptation of motion timing. These findings suggest that gravity strongly constrains motor learning and the reweighting process between visual and proprioceptive sensory inputs, leading to the selection of a motor plan that is suboptimal in terms of energy expenditure. Copyright © 2015 the American Physiological Society.

Thunder-induced ground motions: 2. Site characterization

NASA Astrophysics Data System (ADS)

Lin, Ting-L.; Langston, Charles A.

2009-04-01

Thunder-induced ground motion, near-surface refraction, and Rayleigh wave dispersion measurements were used to constrain near-surface velocity structure at an unconsolidated sediment site. We employed near-surface seismic refraction measurements to first define ranges for site structure parameters. Air-coupled and hammer-generated Rayleigh wave dispersion curves were used to further constrain the site structure by a grid search technique. The acoustic-to-seismic coupling is modeled as an incident plane P wave in a fluid half-space impinging into a solid layered half-space. We found that the infrasound-induced ground motions constrained substrate velocities and the average thickness and velocities of the near-surface layer. The addition of higher-frequency near-surface Rayleigh waves produced tighter constraints on the near-surface velocities. This suggests that natural or controlled airborne pressure sources can be used to investigate the near-surface site structures for earthquake shaking hazard studies.

SU-G-BRA-08: Diaphragm Motion Tracking Based On KV CBCT Projections with a Constrained Linear Regression Optimization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wei, J; Chao, M

2016-06-15

Purpose: To develop a novel strategy to extract the respiratory motion of the thoracic diaphragm from kilovoltage cone beam computed tomography (CBCT) projections by a constrained linear regression optimization technique. Methods: A parabolic function was identified as the geometric model and was employed to fit the shape of the diaphragm on the CBCT projections. The search was initialized by five manually placed seeds on a pre-selected projection image. Temporal redundancies, the enabling phenomenology in video compression and encoding techniques, inherent in the dynamic properties of the diaphragm motion together with the geometrical shape of the diaphragm boundary and the associatedmore » algebraic constraint that significantly reduced the searching space of viable parabolic parameters was integrated, which can be effectively optimized by a constrained linear regression approach on the subsequent projections. The innovative algebraic constraints stipulating the kinetic range of the motion and the spatial constraint preventing any unphysical deviations was able to obtain the optimal contour of the diaphragm with minimal initialization. The algorithm was assessed by a fluoroscopic movie acquired at anteriorposterior fixed direction and kilovoltage CBCT projection image sets from four lung and two liver patients. The automatic tracing by the proposed algorithm and manual tracking by a human operator were compared in both space and frequency domains. Results: The error between the estimated and manual detections for the fluoroscopic movie was 0.54mm with standard deviation (SD) of 0.45mm, while the average error for the CBCT projections was 0.79mm with SD of 0.64mm for all enrolled patients. The submillimeter accuracy outcome exhibits the promise of the proposed constrained linear regression approach to track the diaphragm motion on rotational projection images. Conclusion: The new algorithm will provide a potential solution to rendering diaphragm motion and ultimately improving tumor motion management for radiation therapy of cancer patients.« less

Using Simulated Ground Motions to Constrain Near-Source Ground Motion Prediction Equations in Areas Experiencing Induced Seismicity

NASA Astrophysics Data System (ADS)

Bydlon, S. A.; Dunham, E. M.

2016-12-01

Recent increases in seismic activity in historically quiescent areas such as Oklahoma, Texas, and Arkansas, including large, potentially induced events such as the 2011 Mw 5.6 Prague, OK, earthquake, have spurred the need for investigation into expected ground motions associated with these seismic sources. The neoteric nature of this seismicity increase corresponds to a scarcity of ground motion recordings within 50 km of earthquakes Mw 3.0 and greater, with increasing scarcity at larger magnitudes. Gathering additional near-source ground motion data will help better constraints on regional ground motion prediction equations (GMPEs) and will happen over time, but this leaves open the possibility of damaging earthquakes occurring before potential ground shaking and seismic hazard in these areas are properly understood. To aid the effort of constraining near-source GMPEs associated with induced seismicity, we integrate synthetic ground motion data from simulated earthquakes into the process. Using the dynamic rupture and seismic wave propagation code waveqlab3d, we perform verification and validation exercises intended to establish confidence in simulated ground motions for use in constraining GMPEs. We verify the accuracy of our ground motion simulator by performing the PEER/SCEC layer-over-halfspace comparison problem LOH.1 Validation exercises to ensure that we are synthesizing realistic ground motion data include comparisons to recorded ground motions for specific earthquakes in target areas of Oklahoma between Mw 3.0 and 4.0. Using a 3D velocity structure that includes a 1D structure with additional small-scale heterogeneity, the properties of which are based on well-log data from Oklahoma, we perform ground motion simulations of small (Mw 3.0 - 4.0) earthquakes using point moment tensor sources. We use the resulting synthetic ground motion data to develop GMPEs for small earthquakes in Oklahoma. Preliminary results indicate that ground motions can be amplified if the source is located in the shallow, sedimentary sequence compared to the basement. Source depth could therefore be an important variable to define explicitly in GMPEs instead of being incorporated into traditional distance metrics. Future work will include the addition of dynamic sources to develop GMPEs for large earthquakes.

The Pendulum: From Constrained Fall to the Concept of Potential

ERIC Educational Resources Information Center

Bevilacqua, Fabio; Falomo, Lidia; Fregonese, Lucio; Giannetto, Enrico; Giudice, Franco; Mascheretti, Paolo

2006-01-01

Kuhn underlined the relevance of Galileo's gestalt switch in the interpretation of a swinging body from constrained fall to time metre. But the new interpretation did not eliminate the older one. The constrained fall, both in the motion of pendulums and along inclined planes, led Galileo to the law of free fall. Experimenting with physical…

MO-FG-BRA-08: Swarm Intelligence-Based Personalized Respiratory Gating in Lung SAbR

DOE Office of Scientific and Technical Information (OSTI.GOV)

Modiri, A; Sabouri, P; Sawant, A

Purpose: Respiratory gating is widely deployed as a clinical motion-management strategy in lung radiotherapy. In conventional gating, the beam is turned on during a pre-determined phase window; typically, around end-exhalation. In this work, we challenge the notion that end-exhalation is always the optimal gating phase. Specifically, we use a swarm-intelligence-based, inverse planning approach to determine the optimal respiratory phase and MU for each beam with respect to (i) the state of the anatomy at each phase and (ii) the time spent in that state, estimated from long-term monitoring of the patient’s breathing motion. Methods: In a retrospective study of fivemore » lung cancer patients, we compared the dosimetric performance of our proposed personalized gating (PG) with that of conventional end-of-exhale gating (CEG) and a previously-developed, fully 4D-optimized plan (combined with MLC tracking delivery). For each patient, respiratory phase probabilities (indicative of the time duration of the phase) were estimated over 2 minutes from lung tumor motion traces recorded previously using the Synchrony system (Accuray Inc.). Based on this information, inverse planning optimization was performed to calculate the optimal respiratory gating phase and MU for each beam. To ensure practical deliverability, each PG beam was constrained to deliver the assigned MU over a time duration comparable to that of CEG delivery. Results: Maximum OAR sparing for the five patients achieved by the PG and the 4D plans compared to CEG plans was: Esophagus Dmax [PG:57%, 4D:37%], Heart Dmax [PG:71%, 4D:87%], Spinal cord Dmax [PG:18%, 4D:68%] and Lung V13 [PG:16%, 4D:31%]. While patients spent the most time in exhalation, the PG-optimization chose end-exhale only for 28% of beams. Conclusion: Our novel gating strategy achieved significant dosimetric improvements over conventional gating, and approached the upper limit represented by fully 4D optimized planning while being significantly simpler and more clinically translatable. This work was partially supported through research funding from National Institutes of Health (R01CA169102) and Varian Medical Systems, Palo Alto, CA, USA.« less

Motions, efforts and actuations in constrained dynamic systems: a multi-link open-chain example

NASA Astrophysics Data System (ADS)

Duke Perreira, N.

1999-08-01

The effort-motion method, which describes the dynamics of open- and closed-chain topologies of rigid bodies interconnected with revolute and prismatic pairs, is interpreted geometrically. Systems are identified for which the simultaneous control of forces and velocities is desirable, and a representative open-chain system is selected for use in the ensuing analysis. Gauge invariant transformations are used to recast the commonly used kinetic and kinematic equations into a dimensional gauge invariant form. Constraint elimination techniques based on singular value decompositions then recast the invariant equations into orthogonal and reciprocal sets of motion and effort equations written in state variable form. The ideal actuation is found that simultaneously achieves the obtainable portions of the desired constraining efforts and motions. The performance is then evaluated of using the actuation closest to the ideal actuation.

Observation and analysis of high-speed human motion with frequent occlusion in a large area

NASA Astrophysics Data System (ADS)

Wang, Yuru; Liu, Jiafeng; Liu, Guojun; Tang, Xianglong; Liu, Peng

2009-12-01

The use of computer vision technology in collecting and analyzing statistics during sports matches or training sessions is expected to provide valuable information for tactics improvement. However, the measurements published in the literature so far are either unreliably documented to be used in training planning due to their limitations or unsuitable for studying high-speed motion in large area with frequent occlusions. A sports annotation system is introduced in this paper for tracking high-speed non-rigid human motion over a large playing area with the aid of motion camera, taking short track speed skating competitions as an example. The proposed system is composed of two sub-systems: precise camera motion compensation and accurate motion acquisition. In the video registration step, a distinctive invariant point feature detector (probability density grads detector) and a global parallax based matching points filter are used, to provide reliable and robust matching across a large range of affine distortion and illumination change. In the motion acquisition step, a two regions' relationship constrained joint color model and Markov chain Monte Carlo based joint particle filter are emphasized, by dividing the human body into two relative key regions. Several field tests are performed to assess measurement errors, including comparison to popular algorithms. With the help of the system presented, the system obtains position data on a 30 m × 60 m large rink with root-mean-square error better than 0.3975 m, velocity and acceleration data with absolute error better than 1.2579 m s-1 and 0.1494 m s-2, respectively.

A rate-constrained fast full-search algorithm based on block sum pyramid.

PubMed

Song, Byung Cheol; Chun, Kang-Wook; Ra, Jong Beom

2005-03-01

This paper presents a fast full-search algorithm (FSA) for rate-constrained motion estimation. The proposed algorithm, which is based on the block sum pyramid frame structure, successively eliminates unnecessary search positions according to rate-constrained criterion. This algorithm provides the identical estimation performance to a conventional FSA having rate constraint, while achieving considerable reduction in computation.

Alaska Crustal Deformation: Finite Element Modeling Constrained by Geologic and Very Long Baseline Interferometry Data

NASA Technical Reports Server (NTRS)

Lundgren, Paul; Saucier, Fraancois; Palmer, Randy; Langon, Marc

1995-01-01

We compute crustal motions in Alaska by calculating the finite element solution for an elastic spherical shell problem. The method we use allows the finite element mesh to include faults and very long baseline interferometry (VLBI) baseline rates of change. Boundary conditions include Pacific-North American (PA-NA) plate motions. The solution is constrained by the oblique orientation of the Fairweather-Queen Charlotte strike-slip faults relative to the PA-NA relative motion direction and the oblique orientation from normal convergence of the eastern Aleutian trench fault systems, as well as strike-shp motion along the Denali and Totschunda fault systems. We explore the effects that a range of fault slip constraints and weighting of VLBI rates of change has on the solution. This allows us to test the motion on faults, such as the Denali fault, where there are conflicting reports on its present-day slip rate. We find a pattern of displacements which produce fault motions generally consistent with geologic observations. The motion of the continuum has the general pattern of radial movement of crust to the NE away from the Fairweather-Queen Charlotte fault systems in SE Alaska and Canada. This pattern of crustal motion is absorbed across the Mackenzie Mountains in NW Canada, with strike-slip motion constrained along the Denali and Tintina fault systems. In south central Alaska and the Alaska forearc oblique convergence at the eastern Aleutian trench and the strike-shp motion of the Denali fault system produce a counterclockwise pattern of motion which is partially absorbed along the Contact and related fault systems in southern Alaska and is partially extruded into the Bering Sea and into the forearc parallel the Aleutian trench from the Alaska Peninsula westward. Rates of motion and fault slip are small in western and northern Alaska, but the motions we compute are consistent with the senses of strike-slip motion inferred geologically along the Kaltag, Kobuk Trench, and Thompson Creek faults and with the normal faulting observed in NW Alaska near Nome. The nonrigid behavior of our finite element solution produces patterns of motion that would not have been expected from rigid block models: strike-slip faults can exist in a continuum that has motion mostly perpendicular to their strikes, and faults can exhibit along-strike differences in magnitudes and directions.

The equations of motion for moist atmospheric air

NASA Astrophysics Data System (ADS)

Makarieva, Anastassia M.; Gorshkov, Victor G.; Nefiodov, Andrei V.; Sheil, Douglas; Nobre, Antonio Donato; Bunyard, Peter; Nobre, Paulo; Li, Bai-Lian

2017-07-01

How phase transitions affect the motion of moist atmospheric air remains controversial. In the early 2000s two distinct differential equations of motion were proposed. Besides their contrasting formulations for the acceleration of condensate, the equations differ concerning the presence/absence of a term equal to the rate of phase transitions multiplied by the difference in velocity between condensate and air. This term was interpreted in the literature as the "reactive motion" associated with condensation. The reasoning behind this reactive motion was that when water vapor condenses and droplets begin to fall the remaining gas must move upward to conserve momentum. Here we show that the two contrasting formulations imply distinct assumptions about how gaseous air and condensate particles interact. We show that these assumptions cannot be simultaneously applicable to condensation and evaporation. Reactive motion leading to an upward acceleration of air during condensation does not exist. The reactive motion term can be justified for evaporation only; it describes the downward acceleration of air. We emphasize the difference between the equations of motion (i.e., equations constraining velocity) and those constraining momentum (i.e., equations of motion and continuity combined). We show that owing to the imprecise nature of the continuity equations, consideration of total momentum can be misleading and that this led to the reactive motion controversy. Finally, we provide a revised and generally applicable equation for the motion of moist air.

The centripetal force law and the equation of motion for a particle on a curved hypersurface

NASA Astrophysics Data System (ADS)

Hu, L. D.; Lian, D. K.; Liu, Q. H.

2016-12-01

It is pointed out that the current form of the extrinsic equation of motion for a particle constrained to remain on a hypersurface is in fact a half-finished version; for it is established without regard to the fact that the particle can never depart from the geodesics on the surface. Once this fact is taken into consideration, the equation takes the same form as that for the centripetal force law, provided that the symbols are re-interpreted so that the law is applicable for higher dimensions. The controversial issue of constructing operator forms of these equations is addressed, and our studies show the quantization of constrained system based on the extrinsic equation of motion is preferable.

Actuation for simultaneous motions and constraining efforts: an open chain example

NASA Astrophysics Data System (ADS)

Perreira, N. Duke

1997-06-01

A brief discussion on systems where simultaneous control of forces and velocities are desirable is given and an example linkage with revolute and prismatic joint is selected for further analysis. The Newton-Euler approach for dynamic system analysis is applied to the example to provide a basis of comparison. Gauge invariant transformations are used to convert the dynamic equations into invariant form suitable for use in a new dynamic system analysis method known as the motion-effort approach. This approach uses constraint elimination techniques based on singular value decompositions to recast the invariant form of dynamic system equations into orthogonal sets of motion and effort equations. Desired motions and constraining efforts are partitioned into ideally obtainable and unobtainable portions which are then used to determine the required actuation. The method is applied to the example system and an analytic estimate to its success is made.

Convex optimisation approach to constrained fuel optimal control of spacecraft in close relative motion

NASA Astrophysics Data System (ADS)

Massioni, Paolo; Massari, Mauro

2018-05-01

This paper describes an interesting and powerful approach to the constrained fuel-optimal control of spacecraft in close relative motion. The proposed approach is well suited for problems under linear dynamic equations, therefore perfectly fitting to the case of spacecraft flying in close relative motion. If the solution of the optimisation is approximated as a polynomial with respect to the time variable, then the problem can be approached with a technique developed in the control engineering community, known as "Sum Of Squares" (SOS), and the constraints can be reduced to bounds on the polynomials. Such a technique allows rewriting polynomial bounding problems in the form of convex optimisation problems, at the cost of a certain amount of conservatism. The principles of the techniques are explained and some application related to spacecraft flying in close relative motion are shown.

Simulation of Constrained Musculoskeletal Systems in Task Space.

PubMed

Stanev, Dimitar; Moustakas, Konstantinos

2018-02-01

This paper proposes an operational task space formalization of constrained musculoskeletal systems, motivated by its promising results in the field of robotics. The change of representation requires different algorithms for solving the inverse and forward dynamics simulation in the task space domain. We propose an extension to the direct marker control and an adaptation of the computed muscle control algorithms for solving the inverse kinematics and muscle redundancy problems, respectively. Experimental evaluation demonstrates that this framework is not only successful in dealing with the inverse dynamics problem, but also provides an intuitive way of studying and designing simulations, facilitating assessment prior to any experimental data collection. The incorporation of constraints in the derivation unveils an important extension of this framework toward addressing systems that use absolute coordinates and topologies that contain closed kinematic chains. Task space projection reveals a more intuitive encoding of the motion planning problem, allows for better correspondence between observed and estimated variables, provides the means to effectively study the role of kinematic redundancy, and most importantly, offers an abstract point of view and control, which can be advantageous toward further integration with high level models of the precommand level. Task-based approaches could be adopted in the design of simulation related to the study of constrained musculoskeletal systems.

Energy extraction from a semi-passive flapping-foil turbine with active heave and passive pitch

NASA Astrophysics Data System (ADS)

Boudreau, Matthieu; Dumas, Guy; Gunther, Kevin; CFD Laboratory LMFN Team

2017-11-01

Due to the inherent complexity of the mechanisms needed to prescribe the heaving and the pitching motions of optimal flapping-foil turbines, several research groups are now investigating the potential of using unconstrained passive motions. The amplitude, the phase and the frequency of such free motions are thus the result of the interaction of the blade with the flow and its elastic supports, namely springs and dampers. In parallel with our current study on fully-passive flapping-foil turbines, we investigate in this work the possibility of using a semi-passive turbine. Unlike previous semi-passive turbines studied in the literature, we propose a turbine with a passive pitching motion and an active heaving motion constrained to be a sine wave with desired amplitude and frequency. As most of the energy extracted by flapping-foil turbines comes from the heaving motion, it is natural to connect an electric generator to this degree of freedom, thereby allowing one to constrain this motion. It is found that large-amplitude pitching motions leading to a considerable energy extraction can arise under different circumstances and mechanisms, either forced by the heaving motion or driven by an instability of the pitching motion itself. The authors gratefully acknowledge the support from the Natural Sciences and Engineering Research Council of Canada (NSERC), the Tyler Lewis Clean Energy Research Foundation, Calcul Québec and Compute Canada.

When eyes drive hand: Influence of non-biological motion on visuo-motor coupling.

PubMed

Thoret, Etienne; Aramaki, Mitsuko; Bringoux, Lionel; Ystad, Sølvi; Kronland-Martinet, Richard

2016-01-26

Many studies stressed that the human movement execution but also the perception of motion are constrained by specific kinematics. For instance, it has been shown that the visuo-manual tracking of a spotlight was optimal when the spotlight motion complies with biological rules such as the so-called 1/3 power law, establishing the co-variation between the velocity and the trajectory curvature of the movement. The visual or kinesthetic perception of a geometry induced by motion has also been shown to be constrained by such biological rules. In the present study, we investigated whether the geometry induced by the visuo-motor coupling of biological movements was also constrained by the 1/3 power law under visual open loop control, i.e. without visual feedback of arm displacement. We showed that when someone was asked to synchronize a drawing movement with a visual spotlight following a circular shape, the geometry of the reproduced shape was fooled by visual kinematics that did not respect the 1/3 power law. In particular, elliptical shapes were reproduced when the circle is trailed with a kinematics corresponding to an ellipse. Moreover, the distortions observed here were larger than in the perceptual tasks stressing the role of motor attractors in such a visuo-motor coupling. Finally, by investigating the direct influence of visual kinematics on the motor reproduction, our result conciliates previous knowledge on sensorimotor coupling of biological motions with external stimuli and gives evidence to the amodal encoding of biological motion. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Constrained motion estimation-based error resilient coding for HEVC

NASA Astrophysics Data System (ADS)

Guo, Weihan; Zhang, Yongfei; Li, Bo

2018-04-01

Unreliable communication channels might lead to packet losses and bit errors in the videos transmitted through it, which will cause severe video quality degradation. This is even worse for HEVC since more advanced and powerful motion estimation methods are introduced to further remove the inter-frame dependency and thus improve the coding efficiency. Once a Motion Vector (MV) is lost or corrupted, it will cause distortion in the decoded frame. More importantly, due to motion compensation, the error will propagate along the motion prediction path, accumulate over time, and significantly degrade the overall video presentation quality. To address this problem, we study the problem of encoder-sider error resilient coding for HEVC and propose a constrained motion estimation scheme to mitigate the problem of error propagation to subsequent frames. The approach is achieved by cutting off MV dependencies and limiting the block regions which are predicted by temporal motion vector. The experimental results show that the proposed method can effectively suppress the error propagation caused by bit errors of motion vector and can improve the robustness of the stream in the bit error channels. When the bit error probability is 10-5, an increase of the decoded video quality (PSNR) by up to1.310dB and on average 0.762 dB can be achieved, compared to the reference HEVC.

Quantifying and Qualifying USGS ShakeMap Uncertainty

USGS Publications Warehouse

Wald, David J.; Lin, Kuo-Wan; Quitoriano, Vincent

2008-01-01

We describe algorithms for quantifying and qualifying uncertainties associated with USGS ShakeMap ground motions. The uncertainty values computed consist of latitude/longitude grid-based multiplicative factors that scale the standard deviation associated with the ground motion prediction equation (GMPE) used within the ShakeMap algorithm for estimating ground motions. The resulting grid-based 'uncertainty map' is essential for evaluation of losses derived using ShakeMaps as the hazard input. For ShakeMap, ground motion uncertainty at any point is dominated by two main factors: (i) the influence of any proximal ground motion observations, and (ii) the uncertainty of estimating ground motions from the GMPE, most notably, elevated uncertainty due to initial, unconstrained source rupture geometry. The uncertainty is highest for larger magnitude earthquakes when source finiteness is not yet constrained and, hence, the distance to rupture is also uncertain. In addition to a spatially-dependant, quantitative assessment, many users may prefer a simple, qualitative grading for the entire ShakeMap. We developed a grading scale that allows one to quickly gauge the appropriate level of confidence when using rapidly produced ShakeMaps as part of the post-earthquake decision-making process or for qualitative assessments of archived or historical earthquake ShakeMaps. We describe an uncertainty letter grading ('A' through 'F', for high to poor quality, respectively) based on the uncertainty map. A middle-range ('C') grade corresponds to a ShakeMap for a moderate-magnitude earthquake suitably represented with a point-source location. Lower grades 'D' and 'F' are assigned for larger events (M>6) where finite-source dimensions are not yet constrained. The addition of ground motion observations (or observed macroseismic intensities) reduces uncertainties over data-constrained portions of the map. Higher grades ('A' and 'B') correspond to ShakeMaps with constrained fault dimensions and numerous stations, depending on the density of station/data coverage. Due to these dependencies, the letter grade can change with subsequent ShakeMap revisions if more data are added or when finite-faulting dimensions are added. We emphasize that the greatest uncertainties are associated with unconstrained source dimensions for large earthquakes where the distance term in the GMPE is most uncertain; this uncertainty thus scales with magnitude (and consequently rupture dimension). Since this distance uncertainty produces potentially large uncertainties in ShakeMap ground-motion estimates, this factor dominates over compensating constraints for all but the most dense station distributions.

An Integrated Approach to Segmentation and Nonrigid Registration for Application in Image-Guided Pelvic Radiotherapy

PubMed Central

Lu, Chao; Chelikani, Sudhakar; Papademetris, Xenophon; Knisely, Jonathan P.; Milosevic, Michael F.; Chen, Zhe; Jaffray, David A.; Staib, Lawrence H.; Duncan, James S.

2011-01-01

External beam radiotherapy (EBRT) has become the preferred options for non-surgical treatment of prostate cancer and cervix cancer. In order to deliver higher doses to cancerous regions within these pelvic structures (i.e. prostate or cervix) while maintaining or lowering the doses to surrounding non-cancerous regions, it is critical to account for setup variation, organ motion, anatomical changes due to treatment and intra-fraction motion. In previous work, manual segmentation of the soft tissues is performed and then images are registered based on the manual segmentation. In this paper, we present an integrated automatic approach to multiple organ segmentation and nonrigid constrained registration, which can achieve these two aims simultaneously. The segmentation and registration steps are both formulated using a Bayesian framework, and they constrain each other using an iterative conditional model strategy. We also propose a new strategy to assess cumulative actual dose for this novel integrated algorithm, in order to both determine whether the intended treatment is being delivered and, potentially, whether or not a plan should be adjusted for future treatment fractions. Quantitative results show that the automatic segmentation produced results that have an accuracy comparable to manual segmentation, while the registration part significantly outperforms both rigid and non-rigid registration. Clinical application and evaluation of dose delivery show the superiority of proposed method to the procedure currently used in clinical practice, i.e. manual segmentation followed by rigid registration. PMID:21646038

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

NASA Technical Reports Server (NTRS)

Prinz, F. B. S.; Mahalingam, S.

1992-01-01

A capacitance based proximity sensor, the 'Capaciflector' (Vranish 92), has been developed at the Goddard Space Flight Center of NASA. We had investigated the use of this sensor for avoiding and maneuvering around unexpected objects (Mahalingam 92). The approach developed there would help in executing collision-free gross motions. Another important aspect of robot motion planning is fine motion planning. Let us classify manipulator robot motion planning into two groups at the task level: gross motion planning and fine motion planning. We use the term 'gross planning' where the major degrees of freedom of the robot execute large motions, for example, the motion of a robot in a pick and place type operation. We use the term 'fine motion' to indicate motions of the robot where the large dofs do not move much, and move far less than the mirror dofs, such as in inserting a peg in a hole. In this report we describe our experiments and experiences in this area.

A six-degree-of-freedom passive arm with dynamic constraints (PADyC) for cardiac surgery application: preliminary experiments.

PubMed

Schneider, O; Troccaz, J

2001-01-01

The purpose of Computer-Assisted Surgery (CAS) is to help physicians and surgeons plan and execute optimal strategies from multimodal image data. The execution of such planned strategies may be assisted by guidance systems. Some of these systems, called synergistic systems, are based on the cooperation of a robotic device with a human operator. We have developed such a synergistic device: PADyC (Passive Arm with Dynamic Constraints). The basic principle of PADyC is to have a manually actuated arm that dynamically constrains the authorized motions of the surgical tool held by the human operator during a planned task. Dynamic constraints are computed from the task definition, and are implemented by a patented mechanical system. In this paper, we first introduce synergistic systems and then focus on modeling and algorithmic issues related to the dynamic constraints. Finally, we describe a 6-degree-of-freedom prototype robot designed for a clinical application (cardiac surgery) and report on preliminary experiments to date. The experimental results are then discussed, and future work is proposed. Copyright 2002 Wiley-Liss, Inc.

Software for Project-Based Learning of Robot Motion Planning

ERIC Educational Resources Information Center

Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

2013-01-01

Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can…

Coordinating robot motion, sensing, and control in plans. LDRD project final report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xavier, P.G.; Brown, R.G.; Watterberg, P.A.

1997-08-01

The goal of this project was to develop a framework for robotic planning and execution that provides a continuum of adaptability with respect to model incompleteness, model error, and sensing error. For example, dividing robot motion into gross-motion planning, fine-motion planning, and sensor-augmented control had yielded productive research and solutions to individual problems. Unfortunately, these techniques could only be combined by hand with ad hoc methods and were restricted to systems where all kinematics are completely modeled in planning. The original intent was to develop methods for understanding and autonomously synthesizing plans that coordinate motion, sensing, and control. The projectmore » considered this problem from several perspectives. Results included (1) theoretical methods to combine and extend gross-motion and fine-motion planning; (2) preliminary work in flexible-object manipulation and an implementable algorithm for planning shortest paths through obstacles for the free-end of an anchored cable; (3) development and implementation of a fast swept-body distance algorithm; and (4) integration of Sandia`s C-Space Toolkit geometry engine and SANDROS motion planer and improvements, which yielded a system practical for everyday motion planning, with path-segment planning at interactive speeds. Results (3) and (4) have either led to follow-on work or are being used in current projects, and they believe that (2) will eventually be also.« less

Generating Complaint Motion of Objects with an Articulated Hand

DTIC Science & Technology

1985-06-01

we consider the motions of rigid objects as the solhtions to a con- straint problem. We will examine the task of manipulation in the context of...describe the motion of a rigid object is equivalent to specifying sufficient constraint equations on these unknowns such that they are uniquely...assumption of rigidity . When a rigid object is constrained by a set of contacts, its motion must be consistent with those of the contacts, i.e. its

A biomechanical investigation of dual growing rods used for fusionless scoliosis correction.

PubMed

Quick, M E; Grant, C A; Adam, C J; Askin, G N; Labrom, R D; Pearcy, M J

2015-01-01

The use of dual growing rods is a fusionless surgical approach to the treatment of early onset scoliosis which aims to harness potential growth and correct spinal deformity. The purpose of this study was to compare the in-vitro biomechanical response of two different dual rod designs under axial rotation loading. Six porcine spines were dissected into seven level thoracolumbar multi-segment units. Each specimen was mounted and tested in a biaxial Instron machine, undergoing nondestructive left and right axial rotation to peak moments of 4 Nm at a constant rotation rate of 8 deg. s(-1). A motion tracking system (Optotrak) measured 3D displacements of individual vertebrae. Each spine was tested in an un-instrumented state first and then with appropriately sized semi-constrained and 'rigid' growing rods in alternating sequence. The range of motion, neutral zone size and stiffness were calculated from the moment-rotation curves and intervertebral range of motion was calculated from Optotrak data. Irrespective of test sequence, rigid rods showed a significant reduction of total rotation across all instrumented levels (with increased stiffness) whilst semi-constrained rods exhibited similar rotational behavior to the un-instrumented spines (P<0.05). An 11.1% and 8.0% increase in stiffness for left and right axial rotation respectively and 14.9% reduction in total range of motion were recorded with dual rigid rods compared with semi-constrained rods. Based on these findings, the Semi-constrained growing rods were shown to not increase axial rotation stiffness compared with un-instrumented spines. This is thought to provide a more physiological environment for the growing spine compared to dual rigid rod constructs. Copyright © 2014 Elsevier Ltd. All rights reserved.

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Fang, Jing; Yuan, Jianping

2018-03-01

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.

Hybrid Co-Evolutionary Motion Planning via Visibility-Based Repair

NASA Technical Reports Server (NTRS)

Dozier, Gerry; McCullough, Shaun; Brown, Edward, Jr.; Homaifar, Abdollah; Bikdash, Mar-wan

1997-01-01

This paper introduces a hybrid co-evolutionary system for global motion planning within unstructured environments. This system combines the concept of co-evolutionary search along with a concept that we refer to as the visibility-based repair to form a hybrid which quickly transforms infeasible motions into feasible ones. Also, this system makes use of a novel representation scheme for the obstacles within an environment. Our hybrid evolutionary system differs from other evolutionary motion planners in that (1) more emphasis is placed on repairing infeasible motions to develop feasible motions rather than using simulated evolution exclusively as a means of discovering feasible motions, (2) a continuous map of the environment is used rather than a discretized map, and (3) it develops global motion plans for multiple mobile destinations by co-evolving populations of sub-global motion plans. In this paper, we demonstrate the effectiveness of this system by using it to solve two challenging motion planning problems where multiple targets try to move away from a point robot.

Corrigendum: New Form of Kane's Equations of Motion for Constrained Systems

NASA Technical Reports Server (NTRS)

Roithmayr, Carlos M.; Bajodah, Abdulrahman H.; Hodges, Dewey H.; Chen, Ye-Hwa

2007-01-01

A correction to the previously published article "New Form of Kane's Equations of Motion for Constrained Systems" is presented. Misuse of the transformation matrix between time rates of change of the generalized coordinates and generalized speeds (sometimes called motion variables) resulted in a false conclusion concerning the symmetry of the generalized inertia matrix. The generalized inertia matrix (sometimes referred to as the mass matrix) is in fact symmetric and usually positive definite when one forms nonminimal Kane's equations for holonomic or simple nonholonomic systems, systems subject to nonlinear nonholonomic constraints, and holonomic or simple nonholonomic systems subject to impulsive constraints according to Refs. 1, 2, and 3, respectively. The mass matrix is of course symmetric when one forms minimal equations for holonomic or simple nonholonomic systems using Kane s method as set forth in Ref. 4.

Modeling a space-variant cortical representation for apparent motion.

PubMed

Wurbs, Jeremy; Mingolla, Ennio; Yazdanbakhsh, Arash

2013-08-06

Receptive field sizes of neurons in early primate visual areas increase with eccentricity, as does temporal processing speed. The fovea is evidently specialized for slow, fine movements while the periphery is suited for fast, coarse movements. In either the fovea or periphery discrete flashes can produce motion percepts. Grossberg and Rudd (1989) used traveling Gaussian activity profiles to model long-range apparent motion percepts. We propose a neural model constrained by physiological data to explain how signals from retinal ganglion cells to V1 affect the perception of motion as a function of eccentricity. Our model incorporates cortical magnification, receptive field overlap and scatter, and spatial and temporal response characteristics of retinal ganglion cells for cortical processing of motion. Consistent with the finding of Baker and Braddick (1985), in our model the maximum flash distance that is perceived as an apparent motion (Dmax) increases linearly as a function of eccentricity. Baker and Braddick (1985) made qualitative predictions about the functional significance of both stimulus and visual system parameters that constrain motion perception, such as an increase in the range of detectable motions as a function of eccentricity and the likely role of higher visual processes in determining Dmax. We generate corresponding quantitative predictions for those functional dependencies for individual aspects of motion processing. Simulation results indicate that the early visual pathway can explain the qualitative linear increase of Dmax data without reliance on extrastriate areas, but that those higher visual areas may serve as a modulatory influence on the exact Dmax increase.

Altered perceptual sensitivity to kinematic invariants in Parkinson's disease.

PubMed

Dayan, Eran; Inzelberg, Rivka; Flash, Tamar

2012-01-01

Ample evidence exists for coupling between action and perception in neurologically healthy individuals, yet the precise nature of the internal representations shared between these domains remains unclear. One experimentally derived view is that the invariant properties and constraints characterizing movement generation are also manifested during motion perception. One prominent motor invariant is the "two-third power law," describing the strong relation between the kinematics of motion and the geometrical features of the path followed by the hand during planar drawing movements. The two-thirds power law not only characterizes various movement generation tasks but also seems to constrain visual perception of motion. The present study aimed to assess whether motor invariants, such as the two thirds power law also constrain motion perception in patients with Parkinson's disease (PD). Patients with PD and age-matched controls were asked to observe the movement of a light spot rotating on an elliptical path and to modify its velocity until it appeared to move most uniformly. As in previous reports controls tended to choose those movements close to obeying the two-thirds power law as most uniform. Patients with PD displayed a more variable behavior, choosing on average, movements closer but not equal to a constant velocity. Our results thus demonstrate impairments in how the two-thirds power law constrains motion perception in patients with PD, where this relationship between velocity and curvature appears to be preserved but scaled down. Recent hypotheses on the role of the basal ganglia in motor timing may explain these irregularities. Alternatively, these impairments in perception of movement may reflect similar deficits in motor production.

A computational method for estimating the dosimetric effect of intra-fraction motion on step-and-shoot IMRT and compensator plans

NASA Astrophysics Data System (ADS)

Waghorn, Ben J.; Shah, Amish P.; Ngwa, Wilfred; Meeks, Sanford L.; Moore, Joseph A.; Siebers, Jeffrey V.; Langen, Katja M.

2010-07-01

Intra-fraction organ motion during intensity-modulated radiation therapy (IMRT) treatment can cause differences between the planned and the delivered dose distribution. To investigate the extent of these dosimetric changes, a computational model was developed and validated. The computational method allows for calculation of the rigid motion perturbed three-dimensional dose distribution in the CT volume and therefore a dose volume histogram-based assessment of the dosimetric impact of intra-fraction motion on a rigidly moving body. The method was developed and validated for both step-and-shoot IMRT and solid compensator IMRT treatment plans. For each segment (or beam), fluence maps were exported from the treatment planning system. Fluence maps were shifted according to the target position deduced from a motion track. These shifted, motion-encoded fluence maps were then re-imported into the treatment planning system and were used to calculate the motion-encoded dose distribution. To validate the accuracy of the motion-encoded dose distribution the treatment plan was delivered to a moving cylindrical phantom using a programmed four-dimensional motion phantom. Extended dose response (EDR-2) film was used to measure a planar dose distribution for comparison with the calculated motion-encoded distribution using a gamma index analysis (3% dose difference, 3 mm distance-to-agreement). A series of motion tracks incorporating both inter-beam step-function shifts and continuous sinusoidal motion were tested. The method was shown to accurately predict the film's dose distribution for all of the tested motion tracks, both for the step-and-shoot IMRT and compensator plans. The average gamma analysis pass rate for the measured dose distribution with respect to the calculated motion-encoded distribution was 98.3 ± 0.7%. For static delivery the average film-to-calculation pass rate was 98.7 ± 0.2%. In summary, a computational technique has been developed to calculate the dosimetric effect of intra-fraction motion. This technique has the potential to evaluate a given plan's sensitivity to anticipated organ motion. With knowledge of the organ's motion it can also be used as a tool to assess the impact of measured intra-fraction motion after dose delivery.

Funnel Libraries for Real-Time Robust Feedback Motion Planning

DTIC Science & Technology

2016-07-21

motion plans for a robot that are guaranteed to suc- ceed despite uncertainty in the environment, parametric model uncertainty, and disturbances...resulting funnel library is then used to sequentially compose motion plans at runtime while ensuring the safety of the robot . A major advantage of...the work presented here is that by explicitly taking into account the effect of uncertainty, the robot can evaluate motion plans based on how vulnerable

SU-E-T-562: Motion Tracking Optimization for Conformal Arc Radiotherapy Plans: A QUASAR Phantom Based Study

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xu, Z; Wang, I; Yao, R

Purpose: This study is to use plan parameters optimization (Dose rate, collimator angle, couch angle, initial starting phase) to improve the performance of conformal arc radiotherapy plans with motion tracking by increasing the plan performance score (PPS). Methods: Two types of 3D conformal arc plans were created based on QUASAR respiratory motion phantom with spherical and cylindrical targets. Sinusoidal model was applied to the MLC leaves to generate motion tracking plans. A MATLAB program was developed to calculate PPS of each plan (ranges from 0–1) and optimize plan parameters. We first selected the dose rate for motion tracking plans andmore » then used simulated annealing algorithm to search for the combination of the other parameters that resulted in the plan of the maximal PPS. The optimized motion tracking plan was delivered by Varian Truebeam Linac. In-room cameras and stopwatch were used for starting phase selection and synchronization between phantom motion and plan delivery. Gaf-EBT2 dosimetry films were used to measure the dose delivered to the target in QUASAR phantom. Dose profiles and Truebeam trajectory log files were used for plan delivery performance evaluation. Results: For spherical target, the maximal PPS (PPSsph) of the optimized plan was 0.79: (Dose rate: 500MU/min, Collimator: 90°, Couch: +10°, starting phase: 0.83π). For cylindrical target, the maximal PPScyl was 0.75 (Dose rate: 300MU/min, Collimator: 87°, starting phase: 0.97π) with couch at 0°. Differences of dose profiles between motion tracking plans (with the maximal and the minimal PPS) and 3D conformal plans were as follows: PPSsph=0.79: %ΔFWHM: 8.9%, %Dmax: 3.1%; PPSsph=0.52: %ΔFWHM: 10.4%, %Dmax: 6.1%. PPScyl=0.75: %ΔFWHM: 4.7%, %Dmax: 3.6%; PPScyl=0.42: %ΔFWHM: 12.5%, %Dmax: 9.6%. Conclusion: By achieving high plan performance score through parameters optimization, we can improve target dose conformity of motion tracking plan by decreasing total MLC leaf travel distance and leaf speed.« less

Can biological motion research provide insight on how to reduce friendly fire incidents?

PubMed

Steel, Kylie A; Baxter, David; Dogramaci, Sera; Cobley, Stephen; Ellem, Eathan

2016-10-01

The ability to accurately detect, perceive, and recognize biological motion can be associated with a fundamental drive for survival, and it is a significant interest for perception researchers. This field examines various perceptual features of motion and has been assessed and applied in several real-world contexts (e.g., biometric, sport). Unexplored applications still exist however, including the military issue of friendly fire. There are many causes and processes leading to friendly fire and specific challenges that are associated with visual information extraction during engagement, such as brief glimpses, low acuity, camouflage, and uniform deception. Furthermore, visual information must often be processed under highly stressful (potentially threatening), time-constrained conditions that present a significant problem for soldiers. Biological motion research and anecdotal evidence from experienced combatants suggests that intentions, emotions, identities of human motion can be identified and discriminated, even when visual display is degraded or limited. Furthermore, research suggests that perceptual discriminatory capability of movement under visually constrained conditions is trainable. Therefore, given the limited military research linked to biological motion and friendly fire, an opportunity for cross-disciplinary investigations exists. The focus of this paper is twofold: first, to provide evidence for the possible link between biological motion factors and friendly fire, and second, to propose conceptual and methodological considerations and recommendations for perceptual-cognitive training within current military programs.

Aftershock distribution as a constraint on the geodetic model of coseismic slip for the 2004 Parkfield earthquake

USGS Publications Warehouse

Bennington, Ninfa; Thurber, Clifford; Feigl, Kurt; ,

2011-01-01

Several studies of the 2004 Parkfield earthquake have linked the spatial distribution of the event’s aftershocks to the mainshock slip distribution on the fault. Using geodetic data, we find a model of coseismic slip for the 2004 Parkfield earthquake with the constraint that the edges of coseismic slip patches align with aftershocks. The constraint is applied by encouraging the curvature of coseismic slip in each model cell to be equal to the negative of the curvature of seismicity density. The large patch of peak slip about 15 km northwest of the 2004 hypocenter found in the curvature-constrained model is in good agreement in location and amplitude with previous geodetic studies and the majority of strong motion studies. The curvature-constrained solution shows slip primarily between aftershock “streaks” with the continuation of moderate levels of slip to the southeast. These observations are in good agreement with strong motion studies, but inconsistent with the majority of published geodetic slip models. Southeast of the 2004 hypocenter, a patch of peak slip observed in strong motion studies is absent from our curvature-constrained model, but the available GPS data do not resolve slip in this region. We conclude that the geodetic slip model constrained by the aftershock distribution fits the geodetic data quite well and that inconsistencies between models derived from seismic and geodetic data can be attributed largely to resolution issues.

Layered Safe Motion Planning for Autonomous Vehicles.

DTIC Science & Technology

1995-09-01

The major problem addressed by this research is how to plan a safe motion for autonomous vehicles in a two dimensional, rectilinear world. With given start and goal configurations, the planner performs motion planning which

SU-F-T-134: Can We Use the Same Dose Constrains Learnt From Photon World to Plan Proton for Lung Cancer?

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xiao, Z; Zou, J; Yue, N

Purpose: To evaluate if the same DVH constrains used in photon plans can be safely used to plan proton therapy for lung cancer. Since protons and photons have different dose deposition patterns, the hypothesis is following DVH constrains derived from photon world is not safe for proton. Methods: We retrospectively evaluated plans for 11 lung cancer patients. Each patient was planned with photon and proton following the same dose constrains. Dose statistics on PTV, normal lung, heart and esophagus were extracted for comparison. gEUD for normal lung was calculated and compared between proton and photon plans. We calculated series ofmore » gEUDs for each plan by varying the parameter “a” in gEUD formula from 0.1 to 3, covering the whole confidence interval. Results: For all patients, proton plans yield similar PTV coverage and lower dose to heart and esophagus than photon plans. Normal lung V5 was 32.3 % on average in proton plans than 55.4 % in photon. Normal lung gEUD monotonically increased with increasing “a” for all proton and photon plans. For a given patient, the gEUD-proton(a) had a steeper slope than gEUD-photon(a). The two curves crossed for 8 out of 11 patients when “a” = [0.1, 3]. a-crossing ranged from 0.8 to 2.44 with an average of 1.15. For a« less

Cache-Aware Asymptotically-Optimal Sampling-Based Motion Planning

PubMed Central

Ichnowski, Jeffrey; Prins, Jan F.; Alterovitz, Ron

2014-01-01

We present CARRT* (Cache-Aware Rapidly Exploring Random Tree*), an asymptotically optimal sampling-based motion planner that significantly reduces motion planning computation time by effectively utilizing the cache memory hierarchy of modern central processing units (CPUs). CARRT* can account for the CPU’s cache size in a manner that keeps its working dataset in the cache. The motion planner progressively subdivides the robot’s configuration space into smaller regions as the number of configuration samples rises. By focusing configuration exploration in a region for periods of time, nearest neighbor searching is accelerated since the working dataset is small enough to fit in the cache. CARRT* also rewires the motion planning graph in a manner that complements the cache-aware subdivision strategy to more quickly refine the motion planning graph toward optimality. We demonstrate the performance benefit of our cache-aware motion planning approach for scenarios involving a point robot as well as the Rethink Robotics Baxter robot. PMID:25419474

Cache-Aware Asymptotically-Optimal Sampling-Based Motion Planning.

PubMed

Ichnowski, Jeffrey; Prins, Jan F; Alterovitz, Ron

2014-05-01

We present CARRT* (Cache-Aware Rapidly Exploring Random Tree*), an asymptotically optimal sampling-based motion planner that significantly reduces motion planning computation time by effectively utilizing the cache memory hierarchy of modern central processing units (CPUs). CARRT* can account for the CPU's cache size in a manner that keeps its working dataset in the cache. The motion planner progressively subdivides the robot's configuration space into smaller regions as the number of configuration samples rises. By focusing configuration exploration in a region for periods of time, nearest neighbor searching is accelerated since the working dataset is small enough to fit in the cache. CARRT* also rewires the motion planning graph in a manner that complements the cache-aware subdivision strategy to more quickly refine the motion planning graph toward optimality. We demonstrate the performance benefit of our cache-aware motion planning approach for scenarios involving a point robot as well as the Rethink Robotics Baxter robot.

Total knee replacement with natural rollback.

PubMed

Wachowski, Martin Michael; Walde, Tim Alexander; Balcarek, Peter; Schüttrumpf, Jan Philipp; Frosch, Stephan; Stauffenberg, Caspar; Frosch, Karl-Heinz; Fiedler, Christoph; Fanghänel, Jochen; Kubein-Meesenburg, Dietmar; Nägerl, Hans

2012-03-20

A novel class of total knee replacement (AEQUOS G1) is introduced which features a unique design of the articular surfaces. Based on the anatomy of the human knee and differing from all other prostheses, the lateral tibial "plateau" is convexly curved and the lateral femoral condyle is posteriorly shifted in relation to the medial femoral condyle. Under compressive forces the configuration of the articular surfaces of human knees constrains the relative motion of femur and tibia in flexion/extension. This constrained motion is equivalent to that of a four-bar linkage, the virtual 4 pivots of which are given by the centres of curvature of the articulating surfaces. The dimensions of the four-bar linkage were optimized to the effect that constrained motion of the total knee replacement (TKR) follows the flexional motion of the human knee in close approximation, particularly during gait. In pilot studies lateral X-ray pictures have demonstrated that AEQUOS G1 can feature the natural rollback in vivo. Rollback relieves the load of the patello-femoral joint and minimizes retropatellar pressure. This mechanism should reduce the prevalence of anterior knee pain. The articulating surfaces roll predominantly in the stance phase. Consequently sliding friction is replaced by the lesser rolling friction under load. Producing rollback should minimize material wear due to friction and maximize the lifetime of the prosthesis. To definitely confirm these theses one has to wait for the long term results. Copyright © 2011 Elsevier GmbH. All rights reserved.

Using Tectonic Tremor to Constrain Seismic-wave Attenuation in Cascadia

NASA Astrophysics Data System (ADS)

Littel, G.; Thomas, A.; Baltay, A.

2017-12-01

In addition to fast, seismic slip, many subduction zones also host slow, largely aseismic slip, accompanied by a weak seismic signal known as tectonic tremor. Tremor is a small amplitude, low-frequency seismic signal that originates at the plate interface, down-dip of where large earthquakes typically occur. The Cascadia subduction zone has not seen a large megathrust earthquake since 1700, yet its recurrence interval of 350-500 years motivates heightened interest in understanding the seismic hazard of the region. Of great importance is to understand the degree to which waves are attenuated as they leave the plate interface and travel towards populated regions of interest. Ground motion prediction equations (GMPEs) relate ground motion to a number of parameters, including earthquake magnitude, depth, style of faulting, and anelastic attenuation, and are typically determined empirically from earthquake ground motion recordings. In Cascadia, however, earthquakes of the moderate size typically used to constrain GMPEs occur relatively infrequently compared to tectonic tremor events, which, in contrast, occur periodically approximately every 10-19 months. Studies have shown that the abundant tectonic tremor in Cascadia, despite its small amplitudes, can be used to constrain seismic wave attenuation in GMPEs. Here we quantify seismic wave attenuation and determine its spatial variations in Cascadia by performing an inversion using tremor ground motion amplitudes, taken as peak ground acceleration (PGA) and peak ground velocity (PGV) from 1 min window waveforms of each individual tremor event. We estimate the anelastic attenuation parameter for varying regional sections along the Cascadia margin. Changes in seismic-wave attenuation along the Cascadia Subduction Zone could result in significantly different ground motions in the event of a very large earthquake, hence quantifying attenuation may help to better estimate the severity of shaking in densely populated metropolitan areas such as Vancouver, Seattle and Portland.

Motion on Cycloid Paths: A Project

ERIC Educational Resources Information Center

Gluck, P.

2010-01-01

This article reports a high school laboratory project whose theme is the motion of a small ball on cycloidal tracks. Models were built both of a brachistochrone and of a Huygens pendulum clock whose bob is constrained to move on a cycloidal path. Photogates and a data acquisition system were employed in order to investigate experimentally the…

Motion planning in velocity affine mechanical systems

NASA Astrophysics Data System (ADS)

Jakubiak, Janusz; Tchoń, Krzysztof; Magiera, Władysław

2010-09-01

We address the motion planning problem in specific mechanical systems whose linear and angular velocities depend affinely on control. The configuration space of these systems encompasses the rotation group, and the motion planning involves the system orientation. Derivation of the motion planning algorithm for velocity affine systems has been inspired by the continuation method. Performance of this algorithm is illustrated with examples of the kinematics of a serial nonholonomic manipulator, the plate-ball kinematics and the attitude control of a rigid body.

Semantic Mapping and Motion Planning with Turtlebot Roomba

NASA Astrophysics Data System (ADS)

Aslam Butt, Rizwan; Usman Ali, Syed M.

2013-12-01

In this paper, we have successfully demonstrated the semantic mapping and motion planning experiments on Turtlebot Robot using Microsoft Kinect in ROS environment. Moreover, we have also performed the comparative studies on various sampling based motion planning algorithms with Turtlebot in Open Motion Planning Library. Our comparative analysis revealed that Expansive Space Trees (EST) surmounted all other approaches with respect to memory occupation and processing time. We have also tried to summarize the related concepts of autonomous robotics which we hope would be helpful for beginners.

Iowa in motion : transit system plan : implementing Iowa's state transportation plan

DOT National Transportation Integrated Search

1999-09-14

The Iowa Transit System Plan was developed as a result of the on-going long-range transportation planning process known as Iowa In Motion This planning document, the 1999 Iowa Transit System Plan, is the result of this continuing planning process and...

The Pendulum: From Constrained Fall to the Concept of Potential

NASA Astrophysics Data System (ADS)

Bevilacqua, Fabio; Falomo, Lidia; Fregonese, Lucio; Giannetto, Enrico; Giudice, Franco; Mascheretti, Paolo

2006-08-01

Kuhn underlined the relevance of Galileo’s gestalt switch in the interpretation of a swinging body from constrained fall to time metre. But the new interpretation did not eliminate the older one. The constrained fall, both in the motion of pendulums and along inclined planes, led Galileo to the law of free fall. Experimenting with physical pendulums and assuming the impossibility of perpetual motion Huygens obtained a law of conservation of vis viva at specific positions, beautifully commented by Mach. Daniel Bernoulli generalised Huygens results introducing the concept of potential and the related independence of the ‘work’ done from the trajectories (paths) followed: vis viva conservation at specific positions is now linked with the potential. Feynman’s modern way of teaching the subject shows striking similarities with Bernoulli’s approach. A number of animations and simulations can help to visualise and teach some of the pendulum’s interpretations related to what we now see as instances of energy conservation.

Vibration of a spatial elastica constrained inside a straight tube

NASA Astrophysics Data System (ADS)

Chen, Jen-San; Fang, Joyce

2014-04-01

In this paper we study the dynamic behavior of a clamped-clamped spatial elastica under edge thrust constrained inside a straight cylindrical tube. Attention is focused on the calculation of the natural frequencies and mode shapes of the planar and spatial one-point-contact deformations. The main issue in determining the natural frequencies of a constrained rod is the movement of the contact point during vibration. In order to capture the physical essence of the contact-point movement, an Eulerian description of the equations of motion based on director theory is formulated. After proper linearization of the equations of motion, boundary conditions, and contact conditions, the natural frequencies and mode shapes of the elastica can be obtained by solving a system of eighteen first-order differential equations with shooting method. It is concluded that the planar one-point-contact deformation becomes unstable and evolves to a spatial deformation at a bifurcation point in both displacement and force control procedures.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chao, M; Yuan, Y; Lo, Y

Purpose: To develop a novel strategy to extract the lung tumor motion from cone beam CT (CBCT) projections by an active contour model with interpolated respiration learned from diaphragm motion. Methods: Tumor tracking on CBCT projections was accomplished with the templates derived from planning CT (pCT). There are three major steps in the proposed algorithm: 1) The pCT was modified to form two CT sets: a tumor removed pCT and a tumor only pCT, the respective digitally reconstructed radiographs DRRtr and DRRto following the same geometry of the CBCT projections were generated correspondingly. 2) The DRRtr was rigidly registered withmore » the CBCT projections on the frame-by-frame basis. Difference images between CBCT projections and the registered DRRtr were generated where the tumor visibility was appreciably enhanced. 3) An active contour method was applied to track the tumor motion on the tumor enhanced projections with DRRto as templates to initialize the tumor tracking while the respiratory motion was compensated for by interpolating the diaphragm motion estimated by our novel constrained linear regression approach. CBCT and pCT from five patients undergoing stereotactic body radiotherapy were included in addition to scans from a Quasar phantom programmed with known motion. Manual tumor tracking was performed on CBCT projections and was compared to the automatic tracking to evaluate the algorithm accuracy. Results: The phantom study showed that the error between the automatic tracking and the ground truth was within 0.2mm. For the patients the discrepancy between the calculation and the manual tracking was between 1.4 and 2.2 mm depending on the location and shape of the lung tumor. Similar patterns were observed in the frequency domain. Conclusion: The new algorithm demonstrated the feasibility to track the lung tumor from noisy CBCT projections, providing a potential solution to better motion management for lung radiation therapy.« less

Impact of respiratory motion on worst-case scenario optimized intensity modulated proton therapy for lung cancers.

PubMed

Liu, Wei; Liao, Zhongxing; Schild, Steven E; Liu, Zhong; Li, Heng; Li, Yupeng; Park, Peter C; Li, Xiaoqiang; Stoker, Joshua; Shen, Jiajian; Keole, Sameer; Anand, Aman; Fatyga, Mirek; Dong, Lei; Sahoo, Narayan; Vora, Sujay; Wong, William; Zhu, X Ronald; Bues, Martin; Mohan, Radhe

2015-01-01

We compared conventionally optimized intensity modulated proton therapy (IMPT) treatment plans against worst-case scenario optimized treatment plans for lung cancer. The comparison of the 2 IMPT optimization strategies focused on the resulting plans' ability to retain dose objectives under the influence of patient setup, inherent proton range uncertainty, and dose perturbation caused by respiratory motion. For each of the 9 lung cancer cases, 2 treatment plans were created that accounted for treatment uncertainties in 2 different ways. The first used the conventional method: delivery of prescribed dose to the planning target volume that is geometrically expanded from the internal target volume (ITV). The second used a worst-case scenario optimization scheme that addressed setup and range uncertainties through beamlet optimization. The plan optimality and plan robustness were calculated and compared. Furthermore, the effects on dose distributions of changes in patient anatomy attributable to respiratory motion were 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 2 groups were compared with 2-sided paired Student t tests. Without respiratory motion considered, we affirmed that worst-case scenario optimization is superior to planning target volume-based conventional optimization in terms of plan robustness and optimality. With respiratory motion considered, worst-case scenario optimization still achieved more robust dose distributions to respiratory motion for targets and comparable or even better plan optimality (D95% ITV, 96.6% vs 96.1% [P = .26]; D5%- D95% ITV, 10.0% vs 12.3% [P = .082]; D1% spinal cord, 31.8% vs 36.5% [P = .035]). Worst-case scenario optimization led to superior solutions for lung IMPT. Despite the fact that worst-case scenario optimization did not explicitly account for respiratory motion, it produced motion-resistant treatment plans. However, further research is needed to incorporate respiratory motion into IMPT robust optimization. Copyright © 2015 American Society for Radiation Oncology. Published by Elsevier Inc. All rights reserved.

Visualization in Mechanics: The Dynamics of an Unbalanced Roller

ERIC Educational Resources Information Center

Cumber, Peter S.

2017-01-01

It is well known that mechanical engineering students often find mechanics a difficult area to grasp. This article describes a system of equations describing the motion of a balanced and an unbalanced roller constrained by a pivot arm. A wide range of dynamics can be simulated with the model. The equations of motion are embedded in a graphical…

Constrained dynamics approach for motion synchronization and consensus

NASA Astrophysics Data System (ADS)

Bhatia, Divya

In this research we propose to develop constrained dynamical systems based stable attitude synchronization, consensus and tracking (SCT) control laws for the formation of rigid bodies. The generalized constrained dynamics Equations of Motion (EOM) are developed utilizing constraint potential energy functions that enforce communication constraints. Euler-Lagrange equations are employed to develop the non-linear constrained dynamics of multiple vehicle systems. The constraint potential energy is synthesized based on a graph theoretic formulation of the vehicle-vehicle communication. Constraint stabilization is achieved via Baumgarte's method. The performance of these constrained dynamics based formations is evaluated for bounded control authority. The above method has been applied to various cases and the results have been obtained using MATLAB simulations showing stability, synchronization, consensus and tracking of formations. The first case corresponds to an N-pendulum formation without external disturbances, in which the springs and the dampers connected between the pendulums act as the communication constraints. The damper helps in stabilizing the system by damping the motion whereas the spring acts as a communication link relaying relative position information between two connected pendulums. Lyapunov stabilization (energy based stabilization) technique is employed to depict the attitude stabilization and boundedness. Various scenarios involving different values of springs and dampers are simulated and studied. Motivated by the first case study, we study the formation of N 2-link robotic manipulators. The governing EOM for this system is derived using Euler-Lagrange equations. A generalized set of communication constraints are developed for this system using graph theory. The constraints are stabilized using Baumgarte's techniques. The attitude SCT is established for this system and the results are shown for the special case of three 2-link robotic manipulators. These methods are then applied to the formation of N-spacecraft. Modified Rodrigues Parameters (MRP) are used for attitude representation of the spacecraft because of their advantage of being a minimum parameter representation. Constrained non-linear equations of motion for this system are developed and stabilized using a Proportional-Derivative (PD) controller derived based on Baumgarte's method. A system of 3 spacecraft is simulated and the results for SCT are shown and analyzed. Another problem studied in this research is that of maintaining SCT under unknown external disturbances. We use an adaptive control algorithm to derive control laws for the actuator torques and develop an estimation law for the unknown disturbance parameters to achieve SCT. The estimate of the disturbance is added as a feed forward term in the actual control law to obtain the stabilization of a 3-spacecraft formation. The disturbance estimates are generated via a Lyapunov analysis of the closed loop system. In summary, the constrained dynamics method shows a lot of potential in formation control, achieving stabilization, synchronization, consensus and tracking of a set of dynamical systems.

Optical identification of two nearby Isolated Neutron Stars through proper motion measuremnt.

NASA Astrophysics Data System (ADS)

Zane, Silvia

2004-07-01

Aim of this proposal is to perform high-resolution imaging of the proposed optical counterparts of the two, radio silent, isolated neutron stars RXJ1308.6+2127 and RX J1605.3+3249 with the STIS/50CCD. Imaging both fields with the same instrumental configuration used in mid 2001 by Kaplan et al {2002; 2003}, will allow us to measure the objects' position and to determine their proper motions over a time base of nearly four years. The measurement of proper motions at the level of at least few tens mas/yr, expected for relatively nearby neutron stars, would unambigouosly secure the proposed optical identifications, not achievable otherwise. In addition, the knowledge of the proper motion will provide useful indications on the space velocity and distance of these neutrons stars, as well as on the radius. Constraining these parameters is of paramount importance to discriminate between the variety of emission mechanisms invoked to explain their observed thermal X-ray spectra and to probe the neutron star equation of state {EOS}. The determination of the proper motion is a decisive step toward a dedicated follow-up program aimed at measuring the objects' optical parallax, thus providing much firmer constrains on the star properties, again to be performed with the STIS/50CCD.

Simultaneous orthogonal plane imaging.

PubMed

Mickevicius, Nikolai J; Paulson, Eric S

2017-11-01

Intrafraction motion can result in a smearing of planned external beam radiation therapy dose distributions, resulting in an uncertainty in dose actually deposited in tissue. The purpose of this paper is to present a pulse sequence that is capable of imaging a moving target at a high frame rate in two orthogonal planes simultaneously for MR-guided radiotherapy. By balancing the zero gradient moment on all axes, slices in two orthogonal planes may be spatially encoded simultaneously. The orthogonal slice groups may be acquired with equal or nonequal echo times. A Cartesian spoiled gradient echo simultaneous orthogonal plane imaging (SOPI) sequence was tested in phantom and in vivo. Multiplexed SOPI acquisitions were performed in which two parallel slices were imaged along two orthogonal axes simultaneously. An autocalibrating phase-constrained 2D-SENSE-GRAPPA (generalized autocalibrating partially parallel acquisition) algorithm was implemented to reconstruct the multiplexed data. SOPI images without intraslice motion artifacts were reconstructed at a maximum frame rate of 8.16 Hz. The 2D-SENSE-GRAPPA reconstruction separated the parallel slices aliased along each orthogonal axis. The high spatiotemporal resolution provided by SOPI has the potential to be beneficial for intrafraction motion management during MR-guided radiation therapy or other MRI-guided interventions. Magn Reson Med 78:1700-1710, 2017. © 2016 International Society for Magnetic Resonance in Medicine. © 2016 International Society for Magnetic Resonance in Medicine.

Sci—Sat AM: Stereo — 02: Implementation of a VMAT class solution for kidney SBRT

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sonier, M; Lalani, N; Korol, R

An emerging treatment option for inoperable primary renal cell carcinoma and oligometastatic adrenal lesions is stereotactic body radiation therapy (SBRT). At our center, kidney SBRT treatments were originally planned with IMRT. The goal was to plan future patients using VMAT to improve treatment delivery efficiency. The purpose of this work was twofold: 1) to develop a VMAT class solution for the treatment of kidney SBRT; and, 2) to assess VMAT plan quality when compared to IMRT plans. Five patients treated with IMRT for kidney SBRT were reviewed and replanned in Pinnacle using a single VMAT arc with a 15° collimatormore » rotation, constrained leaf motion and 4° gantry spacing. In comparison, IMRT plans utilized 7–9 6MV beams, with various collimator rotations and up to 2 non-coplanar beams for maximum organ-at-risk (OAR) sparing. Comparisons were made concerning target volume conformity, homogeneity, dose to OARs, treatment time and monitor units (MUs). There was no difference in MUs; however, VMAT reduced the treatment time from 13.0±2.6min, for IMRT, to 4.0±0.9min. The collection of target and OAR constraints and SmartArc parameters, produced a class solution that generated VMAT plans with increased target homogeneity and improved 95% conformity index calculated at < 1.2. In general, the VMAT plans displayed a reduced maximum point dose to nearby OARs with increased intermediate dose to distant OARs. Overall, the introduction of a VMAT class solution for kidney SBRT improves efficiency by reducing treatment planning and delivery time.« less

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Liu, W; Schild, S; Bues, M

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 themore » 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 account for respiratory motion it produced motion-resistant treatment plans. However, further research is needed to incorporate respiratory motion into IMPT robust optimization.« less

Safe motion planning for mobile agents: A model of reactive planning for multiple mobile agents

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fujimura, Kikuo.

1990-01-01

The problem of motion planning for multiple mobile agents is studied. Each planning agent independently plans its own action based on its map which contains a limited information about the environment. In an environment where more than one mobile agent interacts, the motions of the robots are uncertain and dynamic. A model for reactive agents is described and simulation results are presented to show their behavior patterns. 18 refs., 2 figs.

Rapid Slewing of Flexible Space Structures

DTIC Science & Technology

2015-09-01

axis gimbal with elastic joints. The performance of the system can be enhanced by designing antenna maneuvers in which the flexible effects are...the effects of the nonlinearities so the vibrational motion can be constrained for a time-optimal slew. It is shown that by constructing an...joints. The performance of the system can be enhanced by designing antenna maneuvers in which the flexible effects are properly constrained, thus

Explicit Low-Thrust Guidance for Reference Orbit Targeting

NASA Technical Reports Server (NTRS)

Lam, Try; Udwadia, Firdaus E.

2013-01-01

The problem of a low-thrust spacecraft controlled to a reference orbit is addressed in this paper. A simple and explicit low-thrust guidance scheme with constrained thrust magnitude is developed by combining the fundamental equations of motion for constrained systems from analytical dynamics with a Lyapunov-based method. Examples are given for a spacecraft controlled to a reference trajectory in the circular restricted three body problem.

A multistage motion vector processing method for motion-compensated frame interpolation.

PubMed

Huang, Ai- Mei; Nguyen, Truong Q

2008-05-01

In this paper, a novel, low-complexity motion vector processing algorithm at the decoder is proposed for motion-compensated frame interpolation or frame rate up-conversion. We address the problems of having broken edges and deformed structures in an interpolated frame by hierarchically refining motion vectors on different block sizes. Our method explicitly considers the reliability of each received motion vector and has the capability of preserving the structure information. This is achieved by analyzing the distribution of residual energies and effectively merging blocks that have unreliable motion vectors. The motion vector reliability information is also used as a prior knowledge in motion vector refinement using a constrained vector median filter to avoid choosing identical unreliable one. We also propose using chrominance information in our method. Experimental results show that the proposed scheme has better visual quality and is also robust, even in video sequences with complex scenes and fast motion.

Slip history of the 2003 San Simeon earthquake constrained by combining 1-Hz GPS, strong motion, and teleseismic data

USGS Publications Warehouse

Ji, C.; Larson, K.M.; Tan, Y.; Hudnut, K.W.; Choi, K.

2004-01-01

The slip history of the 2003 San Simeon earthquake is constrained by combining strong motion and teleseismic data, along with GPS static offsets and 1-Hz GPS observations. Comparisons of a 1-Hz GPS time series and a co-located strong motion data are in very good agreement, demonstrating a new application of GPS. The inversion results for this event indicate that the rupture initiated at a depth of 8.5 km and propagated southeastwards with a speed ???3.0 km/sec, with rake vectors forming a fan structure around the hypocenter. We obtained a peak slip of 2.8 m and total seismic moment of 6.2 ?? 1018 Nm. We interpret the slip distribution as indicating that the hanging wall rotates relative to the footwall around the hypocenter, in a sense that appears consistent with the shape of the mapped fault trace. Copyright 2004 by the American Geophysical Union.

Dynamic Analysis and Control of Lightweight Manipulators with Flexible Parallel Link Mechanisms. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1990-01-01

The objective is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equation of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to higher order. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. Elastic motion is expressed by the assumed mode method. Mode shape functions of each link are chosen using the load interfaced component mode synthesis. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model.

Like a rolling stone: naturalistic visual kinematics facilitate tracking eye movements.

PubMed

Souto, David; Kerzel, Dirk

2013-02-06

Newtonian physics constrains object kinematics in the real world. We asked whether eye movements towards tracked objects depend on their compliance with those constraints. In particular, the force of gravity constrains round objects to roll on the ground with a particular rotational and translational motion. We measured tracking eye movements towards rolling objects. We found that objects with rotational and translational motion that was congruent with an object rolling on the ground elicited faster tracking eye movements during pursuit initiation than incongruent stimuli. Relative to a condition without rotational component, we compared objects with this motion with a condition in which there was no rotational component, we essentially obtained benefits of congruence, and, to a lesser extent, costs from incongruence. Anticipatory pursuit responses showed no congruence effect, suggesting that the effect is based on visually-driven predictions, not on velocity storage. We suggest that the eye movement system incorporates information about object kinematics acquired by a lifetime of experience with visual stimuli obeying the laws of Newtonian physics.

SU-F-T-560: Measurement of Dose Blurring Effect Due to Respiratory Motion for Lung Stereotactic Body Radiation Therapy (SBRT) Using Monte Carlo Based Calculation Algorithm

DOE Office of Scientific and Technical Information (OSTI.GOV)

Badkul, R; Pokhrel, D; Jiang, H

2016-06-15

Purpose: Intra-fractional tumor motion due to respiration may potentially compromise dose delivery for SBRT of lung tumors. Even sufficient margins are used to ensure there is no geometric miss of target volume, there is potential dose blurring effect may present due to motion and could impact the tumor coverage if motions are larger. In this study we investigated dose blurring effect of open fields as well as Lung SBRT patients planned using 2 non-coplanar dynamic conformal arcs(NCDCA) and few conformal beams(CB) calculated with Monte Carlo (MC) based algorithm utilizing phantom with 2D-diode array(MapCheck) and ion-chamber. Methods: SBRT lung patients weremore » planned on Brainlab-iPlan system using 4D-CT scan and ITV were contoured on MIP image set and verified on all breathing phase image sets to account for breathing motion and then 5mm margin was applied to generate PTV. Plans were created using two NCDCA and 4-5 CB 6MV photon calculated using XVMC MC-algorithm. 3 SBRT patients plans were transferred to phantom with MapCheck and 0.125cc ion-chamber inserted in the middle of phantom to calculate dose. Also open field 3×3, 5×5 and 10×10 were calculated on this phantom. Phantom was placed on motion platform with varying motion from 5, 10, 20 and 30 mm with duty cycle of 4 second. Measurements were carried out for open fields as well 3 patients plans at static and various degree of motions. MapCheck planar dose and ion-chamber reading were collected and compared with static measurements and computed values to evaluate the dosimetric effect on tumor coverage due to motion. Results: To eliminate complexity of patients plan 3 simple open fields were also measured to see the dose blurring effect with the introduction of motion. All motion measured ionchamber values were normalized to corresponding static value. For open fields 5×5 and 10×10 normalized central axis ion-chamber values were 1.00 for all motions but for 3×3 they were 1 up to 10mm motion and 0.97 and 0.87 for 20 and 30mm motion respectively. For SBRT plans central axis dose values were within 1% upto 10mm motions but decreased to average of 5% for 20mm and 8% for 30mm motion. Mapcheck comparison with static showed penumbra enlargement due to motion blurring at the edges of the field for 3×3,5×5,10×10 pass rates were 88% to 12%, 100% to 43% and 100% to 63% respectively as motion increased from 5 to 30mm. For SBRT plans MapCheck mean pass rate were decreased from 73.8% to 39.5% as motion increased from 5mm to 30mm. Conclusion: Dose blurring effect has been seen in open fields as well as SBRT lung plans using NCDCA with CB which worsens with increasing respiratory motion and decreasing field size(tumor size). To reduce this effect larger margins and appropriate motion reduction techniques should be utilized.« less

A Generalized-Compliant-Motion Primitive

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1993-01-01

Computer program bridges gap between planning and execution of compliant robotic motions developed and installed in control system of telerobot. Called "generalized-compliant-motion primitive," one of several task-execution-primitive computer programs, which receives commands from higher-level task-planning programs and executes commands by generating required trajectories and applying appropriate control laws. Program comprises four parts corresponding to nominal motion, compliant motion, ending motion, and monitoring. Written in C language.

Air Quality Conformity Determination Of the Constrained Long Range Plan And The FY99-2004 Transportation Improvement Program For The Washington Metropolitan Region

DOT National Transportation Integrated Search

1998-07-15

This report documents the assessment of the Constrained Long Range Plan (CLRP) and the FY99-2004 Transportation Improvement Program (TIP) with respect to air quality conformity requirements under the 1990 Clean Air Act Amendments. The assessment used...

Computational path planner for product assembly in complex environments

NASA Astrophysics Data System (ADS)

Shang, Wei; Liu, Jianhua; Ning, Ruxin; Liu, Mi

2013-03-01

Assembly path planning is a crucial problem in assembly related design and manufacturing processes. Sampling based motion planning algorithms are used for computational assembly path planning. However, the performance of such algorithms may degrade much in environments with complex product structure, narrow passages or other challenging scenarios. A computational path planner for automatic assembly path planning in complex 3D environments is presented. The global planning process is divided into three phases based on the environment and specific algorithms are proposed and utilized in each phase to solve the challenging issues. A novel ray test based stochastic collision detection method is proposed to evaluate the intersection between two polyhedral objects. This method avoids fake collisions in conventional methods and degrades the geometric constraint when a part has to be removed with surface contact with other parts. A refined history based rapidly-exploring random tree (RRT) algorithm which bias the growth of the tree based on its planning history is proposed and employed in the planning phase where the path is simple but the space is highly constrained. A novel adaptive RRT algorithm is developed for the path planning problem with challenging scenarios and uncertain environment. With extending values assigned on each tree node and extending schemes applied, the tree can adapts its growth to explore complex environments more efficiently. Experiments on the key algorithms are carried out and comparisons are made between the conventional path planning algorithms and the presented ones. The comparing results show that based on the proposed algorithms, the path planner can compute assembly path in challenging complex environments more efficiently and with higher success. This research provides the references to the study of computational assembly path planning under complex environments.

Accounting for direction and speed of eye motion in planning visually guided manual tracking.

PubMed

Leclercq, Guillaume; Blohm, Gunnar; Lefèvre, Philippe

2013-10-01

Accurate motor planning in a dynamic environment is a critical skill for humans because we are often required to react quickly and adequately to the visual motion of objects. Moreover, we are often in motion ourselves, and this complicates motor planning. Indeed, the retinal and spatial motions of an object are different because of the retinal motion component induced by self-motion. Many studies have investigated motion perception during smooth pursuit and concluded that eye velocity is partially taken into account by the brain. Here we investigate whether the eye velocity during ongoing smooth pursuit is taken into account for the planning of visually guided manual tracking. We had 10 human participants manually track a target while in steady-state smooth pursuit toward another target such that the difference between the retinal and spatial target motion directions could be large, depending on both the direction and the speed of the eye. We used a measure of initial arm movement direction to quantify whether motor planning occurred in retinal coordinates (not accounting for eye motion) or was spatially correct (incorporating eye velocity). Results showed that the eye velocity was nearly fully taken into account by the neuronal areas involved in the visuomotor velocity transformation (between 75% and 102%). In particular, these neuronal pathways accounted for the nonlinear effects due to the relative velocity between the target and the eye. In conclusion, the brain network transforming visual motion into a motor plan for manual tracking adequately uses extraretinal signals about eye velocity.

SU-C-210-02: Impact of Intrafractional Motion On TomoTherapy Stereotactic Body Radiotherapy (SBRT) 4D Dosimetry

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lian, J; Matney, J; Chao, E

2015-06-15

Purpose: TomoTherapy treatment has unique challenges in handling intrafractional motion compared to conventional LINAC. This study is aimed to gain a realistic and quantitative understanding of motion impact on TomoTherapy SBRT treatment of lung and prostate cancer patients. Methods: A 4D dose engine utilizing GPUs and including motion during treatment was developed for the efficient simulation of TomoTherapy delivered dosimetry. Two clinical CyberKnife lung cases with respiratory motion tracking and two prostate cases with a slower non-periodical organ motion treated by LINAC plus Calypso tracking were used in the study. For each disease site, one selected case has an averagemore » motion (6mm); the other has a large motion (10mm for lung and 15mm for prostate). SBRT of lung and prostate cases were re-planned on TomoTherapy with 12 Gyx4 fractions and 7Gyx5 fractions, respectively, all with 95% PTV coverage. Each case was planned with 4 jaw settings: 1) conventional 1cm static, 2) 2.5cm static, 3) 2.5cm dynamic, and 4) 5cm dynamic. The intrafractional rigid motion of the target was applied in the dose calculation of individual fractions of each plan and total dose was accumulated from multiple fractions. Results: For 1cm static jaw plans with motions applied, PTV coverage is related to motion type and amplitude. For SBRT patients with average motion (6mm), the PTV coverage remains > 95% for lung case and 74% for prostate case. For cases with large motion, PTV coverage drops to 61% for lung SBRT and 49% for prostate SBRT. Plans with other jaws improve uniformity of moving target, but still suffer from poor PTV coverage (< 70%). Conclusion: TomoTherapy lung SBRT is less motion-impacted when average amplitude of respiratory-induced intrafractional motion is present (6mm). When motion is large and/or non-periodic (prostate), all studied plans lead to significantly decreased target coverage in actual delivered dosimetry.« less

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

PubMed

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 < 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 trials. © 2017 The Royal Australian and New Zealand College of Radiologists.

Method and apparatus for planning motions of robot manipulators

DOEpatents

Chen, Pang C.; Hwang, Yong K.

1996-01-01

Method and apparatus for automatically planning motions of robot manipulators. The invention rapidly finds a collision-free path in a cluttered robot environment, if one exists, from any starting configuration of the robot manipulator to any ending configuration. The time to solution of a motion planning problem is not uniform, but proportional to the complexity of the problem.

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Flampouri, S; Li, Z; Hoppe, B

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 coversmore » 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 and estimation of the effects of cardiac motion not commonly performed.« less

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Price, A; Chang, S; Matney, J

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).more » 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.« less

Prospective treatment plan-specific action limits for real-time intrafractional monitoring in surface image guided radiosurgery.

PubMed

Yock, Adam D; Pawlicki, Todd; Kim, Gwe-Ya

2016-07-01

In surface image guided radiosurgery, action limits are created to determine at what point intrafractional motion exhibited by the patient is large enough to warrant intervention. Action limit values remain constant across patients despite the fact that patient motion affects the target coverage of brain metastases differently depending on the planning technique and other treatment plan-specific factors. The purpose of this work was twofold. The first purpose was to characterize the sensitivity of single-met per iso and multimet per iso treatment plans to uncorrected patient motion. The second purpose was to describe a method to prospectively determine treatment plan-specific action limits considering this sensitivity. In their surface image guided radiosurgery technique, patient positioning is achieved with a thermoplastic mask that does not cover the patient's face. The patient's exposed face is imaged by a stereoscopic photogrammetry system. It is then compared to a reference surface and monitored throughout treatment. Seventy-two brain metastases (representing 29 patients) were used for this study. Twenty-five mets were treated individually ("single-met per iso plans"), and 47 were treated in a plan simultaneously with at least one other met ("multimet per iso plans"). For each met, the proportion of the gross tumor volume that remained within the 100% prescription isodose line was estimated under the influence of combinations of translations and rotations (0.0-3.0 mm and 0.0°-3.0°, respectively). The target volume and the prescription dose-volume were considered concentric spheres that each encompassed a volume determined from the treatment plan. Plan-specific contour plots and DVHs were created to illustrate the sensitivity of a specific lesion to uncorrected patient motion. Both single-met per iso and multimet per iso plans exhibited compromised target coverage under translations and rotations, though multimet per iso plans were considerably more sensitive to these transformations (2.3% and 39.8%, respectively). Plan-specific contour plots and DVHs were used to illustrate how size, distance from isocenter, and planning technique affect a particular met's sensitivity to motion. Stereotactic radiosurgery treatment plans that treat multiple brain metastases using a common isocenter are particularly susceptible to compromised target coverage as a result of uncorrected patient motion. The use of such a planning technique along with other treatment plan-specific factors should influence patient motion management. A graphical representation of the effect of translations and rotations on any particular plan can be generated to inform clinicians of the appropriate action limit when monitoring intrafractional motion.

Constraining the radio jet proper motion of the high-redshift quasar J2134-0419 at z = 4.3

NASA Astrophysics Data System (ADS)

Perger, Krisztina; Frey, Sándor; Gabányi, Krisztina É.; An, Tao; Britzen, Silke; Cao, Hong-Min; Cseh, Dávid; Dennett-Thorpe, Jane; Gurvits, Leonid I.; Hong, Xiao-Yu; Hook, Isobel M.; Paragi, Zsolt; Schilizzi, Richard T.; Yang, Jun; Zhang, Yingkang

2018-06-01

To date, PMN J2134-0419 (at a redshift z = 4.33) is the second most distant quasar known with a milliarcsecond-scale morphology permitting direct estimates of the jet proper motion. Based on two-epoch observations, we constrained its radio jet proper motion using the very long baseline interferometry (VLBI) technique. The observations were conducted with the European VLBI Network (EVN) at 5 GHz on 1999 November 26 and 2015 October 6. We imaged the central 10-pc scale radio jet emission and modelled its brightness distribution. By identifying a jet component at both epochs separated by 15.86 yr, a proper motion of μ = 0.035 ± 0.023 mas yr-1 is found. It corresponds to an apparent superluminal speed of βa = 4.1 ± 2.7 c. Relativistic beaming at both epochs suggests that the jet viewing angle with respect to the line of sight is smaller than 20°, with a minimum bulk Lorentz factor Γ = 4.3. The small value of the proper motion is in good agreement with the expectations from the cosmological interpretation of the redshift and the current cosmological model. Additionally we analysed archival Very Large Array observations of J2143-0419 and found indication of a bent jet extending to ˜30 kpc.

Model Predictive Control Based Motion Drive Algorithm for a Driving Simulator

NASA Astrophysics Data System (ADS)

Rehmatullah, Faizan

In this research, we develop a model predictive control based motion drive algorithm for the driving simulator at Toronto Rehabilitation Institute. Motion drive algorithms exploit the limitations of the human vestibular system to formulate a perception of motion within the constrained workspace of a simulator. In the absence of visual cues, the human perception system is unable to distinguish between acceleration and the force of gravity. The motion drive algorithm determines control inputs to displace the simulator platform, and by using the resulting inertial forces and angular rates, creates the perception of motion. By using model predictive control, we can optimize the use of simulator workspace for every maneuver while simulating the vehicle perception. With the ability to handle nonlinear constraints, the model predictive control allows us to incorporate workspace limitations.

Damped response of shells by a constrained viscoelastic layer

NASA Technical Reports Server (NTRS)

El-Raheb, M.; Wagner, P.

1986-01-01

Vibration absorbers are introduced into an asymmetric configuration of thin cylinders and tori enclosing an acoustic medium. The absorbers consist of thin axial strips bonded to the cylinder with a thin viscoelastic layer. The constrained layer dissipates the energy of relative motions between strip and cylinder. The absorber is most effective on response modes with two or more circumferential waves. The use of transfer matrices is extended to the coupled cylinder-absorber system.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study

NASA Astrophysics Data System (ADS)

Bowen, S. R.; Nyflot, M. J.; Herrmann, C.; Groh, C. M.; Meyer, J.; Wollenweber, S. D.; Stearns, C. W.; Kinahan, P. E.; Sandison, G. A.

2015-05-01

Effective positron emission tomography / computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [18F]FDG. The lung lesion insert was driven by six different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses, and 2%-2 mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10-20%, treatment planning errors were 5-10%, and treatment delivery errors were 5-30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5-10% in PET/CT imaging, <5% in treatment planning, and <2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study.

PubMed

Bowen, S R; Nyflot, M J; Herrmann, C; Groh, C M; Meyer, J; Wollenweber, S D; Stearns, C W; Kinahan, P E; Sandison, G A

2015-05-07

Effective positron emission tomography / computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [(18)F]FDG. The lung lesion insert was driven by six different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses, and 2%-2 mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10-20%, treatment planning errors were 5-10%, and treatment delivery errors were 5-30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5-10% in PET/CT imaging, <5% in treatment planning, and <2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study

PubMed Central

Bowen, S R; Nyflot, M J; Hermann, C; Groh, C; Meyer, J; Wollenweber, S D; Stearns, C W; Kinahan, P E; Sandison, G A

2015-01-01

Effective positron emission tomography/computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [18F]FDG. The lung lesion insert was driven by 6 different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy (VMAT) were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses (EUD), and 2%-2mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10–20%, treatment planning errors were 5–10%, and treatment delivery errors were 5–30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5–10% in PET/CT imaging, < 5% in treatment planning, and < 2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery. PMID:25884892

Periodic motion planning and control for underactuated mechanical systems

NASA Astrophysics Data System (ADS)

Wang, Zeguo; Freidovich, Leonid B.; Zhang, Honghua

2018-06-01

We consider the problem of periodic motion planning and of designing stabilising feedback control laws for such motions in underactuated mechanical systems. A novel periodic motion planning method is proposed. Each state is parametrised by a truncated Fourier series. Then we use numerical optimisation to search for the parameters of the trigonometric polynomial exploiting the measure of discrepancy in satisfying the passive dynamics equations as a performance index. Thus an almost feasible periodic motion is found. Then a linear controller is designed and stability analysis is given to verify that solutions of the closed-loop system stay inside a tube around the planned approximately feasible periodic trajectory. Experimental results for a double rotary pendulum are shown, while numerical simulations are given for models of a spacecraft with liquid sloshing and of a chain of mass spring system.

Global Plate Motions Relative to the Hotspots since 48 Ma B.P. from Simultaneous Inversion of Hotspot Tracks in the Pacific, Indian, and Atlantic Oceans Constrained to Consistency with Known Relative Plate Motions

NASA Astrophysics Data System (ADS)

Gordon, R. G.; Koivisto, E. A. L.

2016-12-01

A fundamental problem of global tectonics and paleomagnetism is determining what part of apparent polar wander is due to plate motion and what part is due to true polar wander. One approach for separating these is available if global hotspots can be used as a reference frame approximately fixed with respect to the deep mantle. Some other workers have used a hotspot reference based only on tracks in the Atlantic and Indian Oceans, and some have used reference frames with moving hotspots and many adjustable parameters. In sharp contrast to the assumptions made in these other works, our recent results demonstrate that there is no significant motion between the Pacific and Indo-Atlantic hotspots since 48 Ma B.P. (lower bound of zero and upper bound of 8-13 mm/yr [Koivisto et al., 2014]). Corrected methodologies combined with cumulative improvements in the age progression along the hotspot tracks, the geomagnetic reversal time scale, and relative plate reconstructions lead to significantly lower rates of motion between hotspots than found in prior studies. Building on our prior results, here we present a globally self-consistent estimate of plate motions relative to the hotspots for the past 48 million years from inversions to fit simultaneously the tracks of the Hawaiian, Louisville, Tristan da Cunha, Réunion, and Iceland hotspots constrained to consistency with known relative plate motions. Each finite rotation is estimated for an age corresponding to a key magnetic anomaly used in plate reconstructions. The new set of plate reconstructions presented here provides a firm basis for estimating absolute plate motions for the past 48 million years and, in particular, can be used to separate paleomagnetically determined apparent polar wander into the part due to plate motion and the part due to true polar wander. Implications for true polar wander since the age of the Hawaiian-Emperor Bend will be discussed.

Software for project-based learning of robot motion planning

NASA Astrophysics Data System (ADS)

Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

2013-12-01

Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can be explained in a simplified two-dimensional setting, but this masks many of the subtleties and complexities of the underlying problem. We have developed software for project-based learning of motion planning that enables deep learning. The projects that we have developed allow advanced undergraduate students and graduate students to reflect on the performance of existing textbook algorithms and their own variations on such algorithms. Formative assessment has been conducted at three institutions. The core of the software used for this teaching module is also used within the Robot Operating System, a widely adopted platform by the robotics research community. This allows for transfer of knowledge and skills to robotics research projects involving a large variety robot hardware platforms.

A practical application of the geometrical theory on fibered manifolds to an autonomous bicycle motion in mechanical system with nonholonomic constraints

NASA Astrophysics Data System (ADS)

Haddout, Soufiane

2018-01-01

The equations of motion of a bicycle are highly nonlinear and rolling of wheels without slipping can only be expressed by nonholonomic constraint equations. A geometrical theory of general nonholonomic constrained systems on fibered manifolds and their jet prolongations, based on so-called Chetaev-type constraint forces, was proposed and developed in the last decade by O. Krupková (Rossi) in 1990's. Her approach is suitable for study of all kinds of mechanical systems-without restricting to Lagrangian, time-independent, or regular ones, and is applicable to arbitrary constraints (holonomic, semiholonomic, linear, nonlinear or general nonholonomic). The goal of this paper is to apply Krupková's geometric theory of nonholonomic mechanical systems to study a concrete problem in nonlinear nonholonomic dynamics, i.e., autonomous bicycle. The dynamical model is preserved in simulations in its original nonlinear form without any simplifying. The results of numerical solutions of constrained equations of motion, derived within the theory, are in good agreement with measurements and thus they open the possibility of direct application of the theory to practical situations.

Elastic Model Transitions: a Hybrid Approach Utilizing Quadratic Inequality Constrained Least Squares (LSQI) and Direct Shape Mapping (DSM)

NASA Technical Reports Server (NTRS)

Jurenko, Robert J.; Bush, T. Jason; Ottander, John A.

2014-01-01

A method for transitioning linear time invariant (LTI) models in time varying simulation is proposed that utilizes both quadratically constrained least squares (LSQI) and Direct Shape Mapping (DSM) algorithms to determine physical displacements. This approach is applicable to the simulation of the elastic behavior of launch vehicles and other structures that utilize multiple LTI finite element model (FEM) derived mode sets that are propagated throughout time. The time invariant nature of the elastic data for discrete segments of the launch vehicle trajectory presents a problem of how to properly transition between models while preserving motion across the transition. In addition, energy may vary between flex models when using a truncated mode set. The LSQI-DSM algorithm can accommodate significant changes in energy between FEM models and carries elastic motion across FEM model transitions. Compared with previous approaches, the LSQI-DSM algorithm shows improvements ranging from a significant reduction to a complete removal of transients across FEM model transitions as well as maintaining elastic motion from the prior state.

Cooperative Autonomous Observation of Coherent Atmospheric Structures using Small Unmanned Aircraft Systems

NASA Astrophysics Data System (ADS)

Ravela, S.

2014-12-01

Mapping the structure of localized atmospheric phenomena, from sea breeze and shallow cumuli to thunderstorms and hurricanes, is of scientific interest. Low-cost small unmanned aircraft systems (sUAS) open the possibility for autonomous "instruments" to map important small-scale phenomena (kilometers, hours) and serve as a testbed for for much larger scales. Localized phenomena viewed as coherent structures interacting with their large-scale environment are difficult to map. As simple simulations show, naive Eulerian or Lagrangian strategies can fail in mapping localized phenomena. Model-based techniques are needed. Meteorological targeting, where supplementary UAS measurements additionally constrain numerical models is promising, but may require many primary measurements to be successful. We propose a new, data-driven, field-operable, cooperative autonomous observing system (CAOS) framework. A remote observer (on a UAS) tracks tracers to identify an apparent motion model over short timescales. Motion-based predictions seed MCMC flight plans for other UAS to gather in-situ data, which is fused with the remote measurements to produce maps. The tracking and mapping cycles repeat, and maps can be assimilated into numerical models for longer term forecasting. CAOS has been applied to study small scale emissions. At Popocatepetl, in collaboration with CENAPRED and IPN, it is being applied map the plume using remote IR/UV UAS and in-situ SO2 sensing, with additional plans for water vapor, the electric field and ash. The combination of sUAS with autonomy appears to be highly promising methodology for environmental mapping. For more information, please visit http://caos.mit.edu

Improving Free-Piston Stirling Engine Specific Power

NASA Technical Reports Server (NTRS)

Briggs, Maxwell Henry

2014-01-01

This work uses analytical methods to demonstrate the potential benefits of optimizing piston and/or displacer motion in a Stirling Engine. Isothermal analysis was used to show the potential benefits of ideal motion in ideal Stirling engines. Nodal analysis is used to show that ideal piston and displacer waveforms are not optimal in real Stirling engines. Constrained optimization was used to identify piston and displacer waveforms that increase Stirling engine specific power.

Improving Free-Piston Stirling Engine Specific Power

NASA Technical Reports Server (NTRS)

Briggs, Maxwell H.

2015-01-01

This work uses analytical methods to demonstrate the potential benefits of optimizing piston and/or displacer motion in a Stirling engine. Isothermal analysis was used to show the potential benefits of ideal motion in ideal Stirling engines. Nodal analysis is used to show that ideal piston and displacer waveforms are not optimal in real Stirling engines. Constrained optimization was used to identify piston and displacer waveforms that increase Stirling engine specific power.

Classification and Segmentation of Nanoparticle Diffusion Trajectories in Cellular Micro Environments

PubMed Central

Kroll, Alexandra; Haramagatti, Chandrashekara R.; Lipinski, Hans-Gerd; Wiemann, Martin

2017-01-01

Darkfield and confocal laser scanning microscopy both allow for a simultaneous observation of live cells and single nanoparticles. Accordingly, a characterization of nanoparticle uptake and intracellular mobility appears possible within living cells. Single particle tracking allows to measure the size of a diffusing particle close to a cell. However, within the more complex system of a cell’s cytoplasm normal, confined or anomalous diffusion together with directed motion may occur. In this work we present a method to automatically classify and segment single trajectories into their respective motion types. Single trajectories were found to contain more than one motion type. We have trained a random forest with 9 different features. The average error over all motion types for synthetic trajectories was 7.2%. The software was successfully applied to trajectories of positive controls for normal- and constrained diffusion. Trajectories captured by nanoparticle tracking analysis served as positive control for normal diffusion. Nanoparticles inserted into a diblock copolymer membrane was used to generate constrained diffusion. Finally we segmented trajectories of diffusing (nano-)particles in V79 cells captured with both darkfield- and confocal laser scanning microscopy. The software called “TraJClassifier” is freely available as ImageJ/Fiji plugin via https://git.io/v6uz2. PMID:28107406

Effect of Rotation on Scaffold Motion and Cell Growth in Rotating Bioreactors.

PubMed

Varley, Mark C; Markaki, Athina E; Brooks, Roger A

2017-06-01

Efficient use of different bioreactor designs to improve cell growth in three-dimensional scaffolds requires an understanding of their mechanism of action. To address this for rotating wall vessel bioreactors, fluid and scaffold motion were investigated experimentally at different rotation speeds and vessel fill volumes. Low cost bioreactors with single and dual axis rotation were developed to investigate the effect of these systems on human osteoblast proliferation in free floating and constrained collagen-glycosaminoglycan porous scaffolds. A range of scaffold motions (free fall, periodic oscillation, and orbital motion) were observed at the rotation speeds and vessel fluid/air ratios used, with 85% fluid fill and an outer vessel wall velocity of ∼14 mm s -1 producing a scaffold in a free fall state. The cell proliferation results showed that after 14 and 21 days of culture, this combination of fluid fill and speed of rotation produced significantly greater cell numbers in the scaffolds than when lower or higher rotation speeds (p < 0.002) or when the chamber was 60% or 100% full (p < 0.01). The fluid flow and scaffold motion experiments show that biaxial rotation would not improve the mass transfer of medium into the scaffold as the second axis of rotation can only transition the scaffold toward oscillatory or orbital motion and, hence, reduce mass transport to the scaffold. The cell culture results confirmed that there was no benefit to the second axis of rotation with no significant difference in cell proliferation either when the scaffolds were free floating or constrained (p > 0.05).

Effect of Rotation on Scaffold Motion and Cell Growth in Rotating Bioreactors

PubMed Central

Varley, Mark C.; Markaki, Athina E.

2017-01-01

Efficient use of different bioreactor designs to improve cell growth in three-dimensional scaffolds requires an understanding of their mechanism of action. To address this for rotating wall vessel bioreactors, fluid and scaffold motion were investigated experimentally at different rotation speeds and vessel fill volumes. Low cost bioreactors with single and dual axis rotation were developed to investigate the effect of these systems on human osteoblast proliferation in free floating and constrained collagen-glycosaminoglycan porous scaffolds. A range of scaffold motions (free fall, periodic oscillation, and orbital motion) were observed at the rotation speeds and vessel fluid/air ratios used, with 85% fluid fill and an outer vessel wall velocity of ∼14 mm s−1 producing a scaffold in a free fall state. The cell proliferation results showed that after 14 and 21 days of culture, this combination of fluid fill and speed of rotation produced significantly greater cell numbers in the scaffolds than when lower or higher rotation speeds (p < 0.002) or when the chamber was 60% or 100% full (p < 0.01). The fluid flow and scaffold motion experiments show that biaxial rotation would not improve the mass transfer of medium into the scaffold as the second axis of rotation can only transition the scaffold toward oscillatory or orbital motion and, hence, reduce mass transport to the scaffold. The cell culture results confirmed that there was no benefit to the second axis of rotation with no significant difference in cell proliferation either when the scaffolds were free floating or constrained (p > 0.05). PMID:28125920

Dense motion estimation using regularization constraints on local parametric models.

PubMed

Patras, Ioannis; Worring, Marcel; van den Boomgaard, Rein

2004-11-01

This paper presents a method for dense optical flow estimation in which the motion field within patches that result from an initial intensity segmentation is parametrized with models of different order. We propose a novel formulation which introduces regularization constraints between the model parameters of neighboring patches. In this way, we provide the additional constraints for very small patches and for patches whose intensity variation cannot sufficiently constrain the estimation of their motion parameters. In order to preserve motion discontinuities, we use robust functions as a regularization mean. We adopt a three-frame approach and control the balance between the backward and forward constraints by a real-valued direction field on which regularization constraints are applied. An iterative deterministic relaxation method is employed in order to solve the corresponding optimization problem. Experimental results show that the proposed method deals successfully with motions large in magnitude, motion discontinuities, and produces accurate piecewise-smooth motion fields.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Foster, R; Ding, C; Jiang, S

Purpose Spine SRS/SAbR treatment plans typically require very steep dose gradients to meet spinal cord constraints and it is crucial that the dose distribution be accurate. However, these plans are typically calculated on helical free-breathing CT scans, which often contain motion artifacts. While the spine itself doesn’t exhibit very much intra-fraction motion, tissues around the spine, particularly the liver, do move with respiration. We investigated the dosimetric effect of liver motion on dose distributions calculated on helical free-breathing CT scans for spine SAbR delivered to the T and L spine. Methods We took 5 spine SAbR plans and used densitymore » overrides to simulate an average reconstruction CT image set, which would more closely represent the patient anatomy during treatment. The value used for the density override was 0.66 g/cc. All patients were planned using our standard beam arrangement, which consists of 13 coplanar step and shoot IMRT beams. The original plan was recalculated with the same MU on the “average” scan and target coverage and spinal cord dose were compared to the original plan. Results The average changes in minimum PTV dose, PTV coverage, max cord dose and volume of cord receiving 10 Gy were 0.6%, 0.8%, 0.3% and 4.4% (0.012 cc), respectively. Conclusion SAbR spine plans are surprisingly robust relative to surrounding organ motion due to respiration. Motion artifacts in helical planning CT scans do not cause clinically significant differences when these plans are re-calculated on pseudo-average CT reconstructions. This is likely due to the beam arrangement used because only three beams pass through the liver and only one beam passes completely through the density override. The effect of the respiratory motion on VMAT plans for spine SAbR is being evaluated.« less

Real-time fuzzy inference based robot path planning

NASA Technical Reports Server (NTRS)

Pacini, Peter J.; Teichrow, Jon S.

1990-01-01

This project addresses the problem of adaptive trajectory generation for a robot arm. Conventional trajectory generation involves computing a path in real time to minimize a performance measure such as expended energy. This method can be computationally intensive, and it may yield poor results if the trajectory is weakly constrained. Typically some implicit constraints are known, but cannot be encoded analytically. The alternative approach used here is to formulate domain-specific knowledge, including implicit and ill-defined constraints, in terms of fuzzy rules. These rules utilize linguistic terms to relate input variables to output variables. Since the fuzzy rulebase is determined off-line, only high-level, computationally light processing is required in real time. Potential applications for adaptive trajectory generation include missile guidance and various sophisticated robot control tasks, such as automotive assembly, high speed electrical parts insertion, stepper alignment, and motion control for high speed parcel transfer systems.

A simple strategy for jumping straight up.

PubMed

Hemami, Hooshang; Wyman, Bostwick F

2012-05-01

Jumping from a stationary standing position into the air is a transition from a constrained motion in contact with the ground to an unconstrained system not in contact with the ground. A simple case of the jump, as it applies to humans, robots and humanoids, is studied in this paper. The dynamics of the constrained rigid body are expanded to define a larger system that accommodates the jump. The formulation is applied to a four-link, three-dimensional system in order to articulate the ballistic motion involved. The activity of the muscular system and the role of the major sagittal muscle groups are demonstrated. The control strategy, involving state feedback and central feed forward signals, is formulated and computer simulations are presented to assess the feasibility of the formulations, the strategy and the jump. Copyright © 2012 Elsevier Inc. All rights reserved.

Real-time marker-free motion capture system using blob feature analysis

NASA Astrophysics Data System (ADS)

Park, Chang-Joon; Kim, Sung-Eun; Kim, Hong-Seok; Lee, In-Ho

2005-02-01

This paper presents a real-time marker-free motion capture system which can reconstruct 3-dimensional human motions. The virtual character of the proposed system mimics the motion of an actor in real-time. The proposed system captures human motions by using three synchronized CCD cameras and detects the root and end-effectors of an actor such as a head, hands, and feet by exploiting the blob feature analysis. And then, the 3-dimensional positions of end-effectors are restored and tracked by using Kalman filter. At last, the positions of the intermediate joint are reconstructed by using anatomically constrained inverse kinematics algorithm. The proposed system was implemented under general lighting conditions and we confirmed that the proposed system could reconstruct motions of a lot of people wearing various clothes in real-time stably.

Residual stress at fluid interfaces

DOE Office of Scientific and Technical Information (OSTI.GOV)

Murray, P.E.

We extend the Navier-Stokes equations to allow for residual stress in Newtonian fluids. A fluid, which undergoes a constrained volume change, will have residual stress. Corresponding to every constrained volume change is an eigenstrain. We present a method to include in the equations of fluid motion the eigenstrain that is a result of the presence in a fluid of a soluble chemical species. This method is used to calculate the residual stress associated with a chemical transformation. 9 refs., 1 fig.

SU-G-BRA-03: PCA Based Imaging Angle Optimization for 2D Cine MRI Based Radiotherapy Guidance

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chen, T; Yue, N; Jabbour, S

2016-06-15

Purpose: To develop an imaging angle optimization methodology for orthogonal 2D cine MRI based radiotherapy guidance using Principal Component Analysis (PCA) of target motion retrieved from 4DCT. Methods: We retrospectively analyzed 4DCT of 6 patients with lung tumor. A radiation oncologist manually contoured the target volume at the maximal inhalation phase of the respiratory cycle. An object constrained deformable image registration (DIR) method has been developed to track the target motion along the respiration at ten phases. The motion of the center of the target mass has been analyzed using the PCA to find out the principal motion components thatmore » were uncorrelated with each other. Two orthogonal image planes for cineMRI have been determined using this method to minimize the through plane motion during MRI based radiotherapy guidance. Results: 3D target respiratory motion for all 6 patients has been efficiently retrieved from 4DCT. In this process, the object constrained DIR demonstrated satisfactory accuracy and efficiency to enable the automatic motion tracking for clinical application. The average motion amplitude in the AP, lateral, and longitudinal directions were 3.6mm (min: 1.6mm, max: 5.6mm), 1.7mm (min: 0.6mm, max: 2.7mm), and 5.6mm (min: 1.8mm, max: 16.1mm), respectively. Based on PCA, the optimal orthogonal imaging planes were determined for cineMRI. The average angular difference between the PCA determined imaging planes and the traditional AP and lateral imaging planes were 47 and 31 degrees, respectively. After optimization, the average amplitude of through plane motion reduced from 3.6mm in AP images to 2.5mm (min:1.3mm, max:3.9mm); and from 1.7mm in lateral images to 0.6mm (min: 0.2mm, max:1.5mm), while the principal in plane motion amplitude increased from 5.6mm to 6.5mm (min: 2.8mm, max: 17mm). Conclusion: DIR and PCA can be used to optimize the orthogonal image planes of cineMRI to minimize the through plane motion during radiotherapy guidance.« less

SU-E-J-80: Interplay Effect Between VMAT Intensity Modulation and Tumor Motion in Hypofractioned Lung Treatment, Investigated with 3D Pressage Dosimeter

DOE Office of Scientific and Technical Information (OSTI.GOV)

Touch, M; Duke University Medical Center, Durham, NC; Wu, Q

2014-06-01

Purpose: To demonstrate an embedded tissue equivalent presage dosimeter for measuring 3D doses in moving tumors and to study the interplay effect between the tumor motion and intensity modulation in hypofractioned Volumetric Modulated Arc Therapy(VMAT) lung treatment. Methods: Motion experiments were performed using cylindrical Presage dosimeters (5cm diameter by 7cm length) mounted inside the lung insert of a CIRS thorax phantom. Two different VMAT treatment plans were created and delivered in three different scenarios with the same prescribed dose of 18 Gy. Plan1, containing a 2 centimeter spherical CTV with an additional 2mm setup margin, was delivered on a stationarymore » phantom. Plan2 used the same CTV except expanded by 1 cm in the Sup-Inf direction to generate ITV and PTV respectively. The dosimeters were irradiated in static and variable motion scenarios on a Truebeam system. After irradiation, high resolution 3D dosimetry was performed using the Duke Large Field-of-view Optical-CT Scanner, and compared to the calculated dose from Eclipse. Results: In the control case (no motion), good agreement was observed between the planned and delivered dose distributions as indicated by 100% 3D Gamma (3% of maximum planned dose and 3mm DTA) passing rates in the CTV. In motion cases gamma passing rates was 99% in CTV. DVH comparisons also showed good agreement between the planned and delivered dose in CTV for both control and motion cases. However, differences of 15% and 5% in dose to PTV were observed in the motion and control cases respectively. Conclusion: With very high dose nature of a hypofraction treatment, significant effect was observed only motion is introduced to the target. This can be resulted from the motion of the moving target and the modulation of the MLC. 3D optical dosimetry can be of great advantage in hypofraction treatment dose validation studies.« less

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hubley, Emily; Pierce, Greg; Ploquin, Nicolas

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 leafmore » 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.« less

Multiresolution motion planning for autonomous agents via wavelet-based cell decompositions.

PubMed

Cowlagi, Raghvendra V; Tsiotras, Panagiotis

2012-10-01

We present a path- and motion-planning scheme that is "multiresolution" both in the sense of representing the environment with high accuracy only locally and in the sense of addressing the vehicle kinematic and dynamic constraints only locally. The proposed scheme uses rectangular multiresolution cell decompositions, efficiently generated using the wavelet transform. The wavelet transform is widely used in signal and image processing, with emerging applications in autonomous sensing and perception systems. The proposed motion planner enables the simultaneous use of the wavelet transform in both the perception and in the motion-planning layers of vehicle autonomy, thus potentially reducing online computations. We rigorously prove the completeness of the proposed path-planning scheme, and we provide numerical simulation results to illustrate its efficacy.

Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps

PubMed Central

Bowen, Chris; Ye, Gu; Alterovitz, Ron

2015-01-01

In unstructured environments in people’s homes and workspaces, robots executing a task may need to avoid obstacles while satisfying task motion constraints, e.g., keeping a plate of food level to avoid spills or properly orienting a finger to push a button. We introduce a sampling-based method for computing motion plans that are collision-free and minimize a cost metric that encodes task motion constraints. Our time-dependent cost metric, learned from a set of demonstrations, encodes features of a task’s motion that are consistent across the demonstrations and, hence, are likely required to successfully execute the task. Our sampling-based motion planner uses the learned cost metric to compute plans that simultaneously avoid obstacles and satisfy task constraints. The motion planner is asymptotically optimal and minimizes the Mahalanobis distance between the planned trajectory and the distribution of demonstrations in a feature space parameterized by the locations of task-relevant objects. The motion planner also leverages the distribution of the demonstrations to significantly reduce plan computation time. We demonstrate the method’s effectiveness and speed using a small humanoid robot performing tasks requiring both obstacle avoidance and satisfaction of learned task constraints. Note to Practitioners Motivated by the desire to enable robots to autonomously operate in cluttered home and workplace environments, this paper presents an approach for intuitively training a robot in a manner that enables it to repeat the task in novel scenarios and in the presence of unforeseen obstacles in the environment. Based on user-provided demonstrations of the task, our method learns features of the task that are consistent across the demonstrations and that we expect should be repeated by the robot when performing the task. We next present an efficient algorithm for planning robot motions to perform the task based on the learned features while avoiding obstacles. We demonstrate the effectiveness of our motion planner for scenarios requiring transferring a powder and pushing a button in environments with obstacles, and we plan to extend our results to more complex tasks in the future. PMID:26279642

Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2018-05-01

Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.

Motion of single wandering diblock-macromolecules directed by a PTFE nano-fence: real time SFM observations.

PubMed

Gallyamov, Marat O; Qin, Shuhui; Matyjaszewski, Krzysztof; Khokhlov, Alexei; Möller, Martin

2009-07-21

Using SFM we have observed a peculiar twisting motion of diblock macromolecules pre-collapsed in ethanol vapour during their subsequent spreading in water vapour. The intrinsic asymmetry of the diblock macromolecules has been considered to be the reason for such twisting. Further, friction-deposited PTFE nano-stripes have been employed as nano-trails with the purpose of inducing lateral directed motion of the asymmetric diblock macromolecules under cyclic impact from the changing vapour surroundings. Indeed, some of the macromolecules have demonstrated a certain tendency to orient along the PTFE stripes, and some of the oriented ones have moved occasionally in a directed manner along the trail. However, it has been difficult to reliably record such directed motion at the single molecule level due to some mobility of the PTFE nano-trails themselves in the changing vapour environment. In vapours, the PTFE stripes have demonstrated a distinct tendency towards conjunction. This tendency has manifested itself in efficient expelling of groups of the mobile brush-like molecules from the areas between two PTFE stripes joining in a zip-fastener manner. This different kind of vapour-induced cooperative macromolecular motion has been reliably observed as being directed. The PTFE nano-frame experiences some deformation when constraining the spreading macromolecules. We have estimated the possible force causing such deformation of the PTFE fence. The force has been found to be a few pN as calculated by a partial contribution from every single molecule of the constrained group.

Animation control of surface motion capture.

PubMed

Tejera, Margara; Casas, Dan; Hilton, Adrian

2013-12-01

Surface motion capture (SurfCap) of actor performance from multiple view video provides reconstruction of the natural nonrigid deformation of skin and clothing. This paper introduces techniques for interactive animation control of SurfCap sequences which allow the flexibility in editing and interactive manipulation associated with existing tools for animation from skeletal motion capture (MoCap). Laplacian mesh editing is extended using a basis model learned from SurfCap sequences to constrain the surface shape to reproduce natural deformation. Three novel approaches for animation control of SurfCap sequences, which exploit the constrained Laplacian mesh editing, are introduced: 1) space–time editing for interactive sequence manipulation; 2) skeleton-driven animation to achieve natural nonrigid surface deformation; and 3) hybrid combination of skeletal MoCap driven and SurfCap sequence to extend the range of movement. These approaches are combined with high-level parametric control of SurfCap sequences in a hybrid surface and skeleton-driven animation control framework to achieve natural surface deformation with an extended range of movement by exploiting existing MoCap archives. Evaluation of each approach and the integrated animation framework are presented on real SurfCap sequences for actors performing multiple motions with a variety of clothing styles. Results demonstrate that these techniques enable flexible control for interactive animation with the natural nonrigid surface dynamics of the captured performance and provide a powerful tool to extend current SurfCap databases by incorporating new motions from MoCap sequences.

Effective motion planning strategy for space robot capturing targets under consideration of the berth position

NASA Astrophysics Data System (ADS)

Zhang, Xin; Liu, Jinguo

2018-07-01

Although many motion planning strategies for missions involving space robots capturing floating targets can be found in the literature, relatively little has discussed how to select the berth position where the spacecraft base hovers. In fact, the berth position is a flexible and controllable factor, and selecting a suitable berth position has a great impact on improving the efficiency of motion planning in the capture mission. Therefore, to make full use of the manoeuvrability of the space robot, this paper proposes a new viewpoint that utilizes the base berth position as an optimizable parameter to formulate a more comprehensive and effective motion planning strategy. Considering the dynamic coupling, the dynamic singularities, and the physical limitations of space robots, a unified motion planning framework based on the forward kinematics and parameter optimization technique is developed to convert the planning problem into the parameter optimization problem. For getting rid of the strict grasping position constraints in the capture mission, a new conception of grasping area is proposed to greatly simplify the difficulty of the motion planning. Furthermore, by utilizing the penalty function method, a new concise objective function is constructed. Here, the intelligent algorithm, Particle Swarm Optimization (PSO), is worked as solver to determine the free parameters. Two capturing cases, i.e., capturing a two-dimensional (2D) planar target and capturing a three-dimensional (3D) spatial target, are studied under this framework. The corresponding simulation results demonstrate that the proposed method is more efficient and effective for planning the capture missions.

Drifter Motion in the Gulf of Mexico Constrained by Altimetric Lagrangian Coherent Structures

DTIC Science & Technology

2013-12-09

long chlorophyll plume extending southeastward from the Mississippi River mouth was evident, as revealed in the satellite ocean color image shown in...LCS ( black curves) extracted from altimetry using the methodology described below. This confirms the role attributed to the mesoscale circulation...DRIFTER MOTION TIED TO ALTIMETRIC LCS Figure 1. (left) Chlorophyll a concentration in the northern Gulf of Mexico on 12 July 2012 derived from the

Concurrent prediction of muscle and tibiofemoral contact forces during treadmill gait.

PubMed

Guess, Trent M; Stylianou, Antonis P; Kia, Mohammad

2014-02-01

Detailed knowledge of knee kinematics and dynamic loading is essential for improving the design and outcomes of surgical procedures, tissue engineering applications, prosthetics design, and rehabilitation. This study used publicly available data provided by the "Grand Challenge Competition to Predict in-vivo Knee Loads" for the 2013 American Society of Mechanical Engineers Summer Bioengineering Conference (Fregly et al., 2012, "Grand Challenge Competition to Predict in vivo Knee Loads," J. Orthop. Res., 30, pp. 503-513) to develop a full body, musculoskeletal model with subject specific right leg geometries that can concurrently predict muscle forces, ligament forces, and knee and ground contact forces. The model includes representation of foot/floor interactions and predicted tibiofemoral joint loads were compared to measured tibial loads for two different cycles of treadmill gait. The model used anthropometric data (height and weight) to scale the joint center locations and mass properties of a generic model and then used subject bone geometries to more accurately position the hip and ankle. The musculoskeletal model included 44 muscles on the right leg, and subject specific geometries were used to create a 12 degrees-of-freedom anatomical right knee that included both patellofemoral and tibiofemoral articulations. Tibiofemoral motion was constrained by deformable contacts defined between the tibial insert and femoral component geometries and by ligaments. Patellofemoral motion was constrained by contact between the patellar button and femoral component geometries and the patellar tendon. Shoe geometries were added to the feet, and shoe motion was constrained by contact between three shoe segments per foot and the treadmill surface. Six-axis springs constrained motion between the feet and shoe segments. Experimental motion capture data provided input to an inverse kinematics stage, and the final forward dynamics simulations tracked joint angle errors for the left leg and upper body and tracked muscle length errors for the right leg. The one cycle RMS errors between the predicted and measured tibia contact were 178 N and 168 N for the medial and lateral sides for the first gait cycle and 209 N and 228 N for the medial and lateral sides for the faster second gait cycle. One cycle RMS errors between predicted and measured ground reaction forces were 12 N, 13 N, and 65 N in the anterior-posterior, medial-lateral, and vertical directions for the first gait cycle and 43 N, 15 N, and 96 N in the anterior-posterior, medial-lateral, and vertical directions for the second gait cycle.

23 CFR 710.303 - Planning.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 23 Highways 1 2010-04-01 2010-04-01 false Planning. 710.303 Section 710.303 Highways FEDERAL... ESTATE Project Development § 710.303 Planning. State and local governments conduct metropolitan and statewide planning to develop coordinated, financially constrained system plans to meet transportation needs...

The Advantages of Normalizing Electromyography to Ballistic Rather than Isometric or Isokinetic Tasks.

PubMed

Suydam, Stephen M; Manal, Kurt; Buchanan, Thomas S

2017-07-01

Isometric tasks have been a standard for electromyography (EMG) normalization stemming from anatomic and physiologic stability observed during contraction. Ballistic dynamic tasks have the benefit of eliciting maximum EMG signals for normalization, despite having the potential for greater signal variability. It is the purpose of this study to compare maximum voluntary isometric contraction (MVIC) to nonisometric tasks with increasing degrees of extrinsic variability, ie, joint range of motion, velocity, rate of contraction, etc., to determine if the ballistic tasks, which elicit larger peak EMG signals, are more reliable than the constrained MVIC. Fifteen subjects performed MVIC, isokinetic, maximum countermovement jump, and sprint tasks while EMG was collected from 9 muscles in the quadriceps, hamstrings, and lower leg. The results revealed the unconstrained ballistic tasks were more reliable compared to the constrained MVIC and isokinetic tasks for all triceps surae muscles. The EMG from sprinting was more reliable than the constrained cases for both the hamstrings and vasti. The most reliable EMG signals occurred when the body was permitted its natural, unconstrained motion. These results suggest that EMG is best normalized using ballistic tasks to provide the greatest within-subject reliability, which beneficially yield maximum EMG values.

Dosimetric comparison of photon and proton treatment techniques for chondrosarcoma of thoracic spine

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yadav, Poonam, E-mail: yadav@humonc.wisc.edu; Department of Medical Physics, University of Wisconsin, Madison, WI; University of Wisconsin Riverview Cancer Center, Wisconsin Rapids, WI

2013-10-01

Chondrosarcomas are relatively radiotherapy resistant, and also delivering high radiation doses is not feasible owing to anatomic constraints. In this study, the feasibility of helical tomotherapy for treatment of chondrosarcoma of thoracic spine is explored and compared with other available photon and proton radiotherapy techniques in the clinical setting. A patient was treated for high-grade chondrosarcoma of the thoracic spine using tomotherapy. Retrospectively, the tomotherapy plan was compared with intensity-modulated radiation therapy, dynamic arc photon therapy, and proton therapy. Two primary comparisons were made: (1) comparison of normal tissue sparing with comparable target volume coverage (plan-1), and (2) comparison ofmore » target volume coverage with a constrained maximum dose to the cord center (plan-2). With constrained target volume coverage, proton plans were found to yield lower mean doses for all organs at risk (spinal cord, esophagus, heart, and both lungs). Tomotherapy planning resulted in the lowest mean dose to all organs at risk amongst photon-based methods. For cord dose constrained plans, the static-field intensity-modulated radiation therapy and dynamic arc plans resulted target underdosing in 20% and 12% of planning target volume2 volumes, respectively, whereas both proton and tomotherapy plans provided clinically acceptable target volume coverage with no portion of planning target volume2 receiving less than 90% of the prescribed dose. Tomotherapy plans are comparable to proton plans and produce superior results compared with other photon modalities. This feasibility study suggests that tomotherapy is an attractive alternative to proton radiotherapy for delivering high doses to lesions in the thoracic spine.« less

Robot body self-modeling algorithm: a collision-free motion planning approach for humanoids.

PubMed

Leylavi Shoushtari, Ali

2016-01-01

Motion planning for humanoid robots is one of the critical issues due to the high redundancy and theoretical and technical considerations e.g. stability, motion feasibility and collision avoidance. The strategies which central nervous system employs to plan, signal and control the human movements are a source of inspiration to deal with the mentioned problems. Self-modeling is a concept inspired by body self-awareness in human. In this research it is integrated in an optimal motion planning framework in order to detect and avoid collision of the manipulated object with the humanoid body during performing a dynamic task. Twelve parametric functions are designed as self-models to determine the boundary of humanoid's body. Later, the boundaries which mathematically defined by the self-models are employed to calculate the safe region for box to avoid the collision with the robot. Four different objective functions are employed in motion simulation to validate the robustness of algorithm under different dynamics. The results also confirm the collision avoidance, reality and stability of the predicted motion.

A unified motion planning approach for redundant and non-redundant manipulators with actuator constraints. Ph.D. Thesis Final Report

NASA Technical Reports Server (NTRS)

Chung, Ching-Luan

1990-01-01

The term trajectory planning has been used to refer to the process of determining the time history of joint trajectory of each joint variable corresponding to a specified trajectory of the end effector. The trajectory planning problem was solved as a purely kinematic problem. The drawback is that there is no guarantee that the actuators can deliver the effort necessary to track the planned trajectory. To overcome this limitation, a motion planning approach which addresses the kinematics, dynamics, and feedback control of a manipulator in a unified framework was developed. Actuator constraints are taken into account explicitly and a priori in the synthesis of the feedback control law. Therefore the result of applying the motion planning approach described is not only the determination of the entire set of joint trajectories but also a complete specification of the feedback control strategy which would yield these joint trajectories without violating actuator constraints. The effectiveness of the unified motion planning approach is demonstrated on two problems which are of practical interest in manipulator robotics.

Experimental validation of the van Herk margin formula for lung radiation therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ecclestone, Gillian; Heath, Emily; Bissonnette, Jean-Pierre

2013-11-15

Purpose: To validate the van Herk margin formula for lung radiation therapy using realistic dose calculation algorithms and respiratory motion modeling. The robustness of the margin formula against variations in lesion size, peak-to-peak motion amplitude, tissue density, treatment technique, and plan conformity was assessed, along with the margin formula assumption of a homogeneous dose distribution with perfect plan conformity.Methods: 3DCRT and IMRT lung treatment plans were generated within the ORBIT treatment planning platform (RaySearch Laboratories, Sweden) on 4DCT datasets of virtual phantoms. Random and systematic respiratory motion induced errors were simulated using deformable registration and dose accumulation tools available withinmore » ORBIT for simulated cases of varying lesion sizes, peak-to-peak motion amplitudes, tissue densities, and plan conformities. A detailed comparison between the margin formula dose profile model, the planned dose profiles, and penumbra widths was also conducted to test the assumptions of the margin formula. Finally, a correction to account for imperfect plan conformity was tested as well as a novel application of the margin formula that accounts for the patient-specific motion trajectory.Results: The van Herk margin formula ensured full clinical target volume coverage for all 3DCRT and IMRT plans of all conformities with the exception of small lesions in soft tissue. No dosimetric trends with respect to plan technique or lesion size were observed for the systematic and random error simulations. However, accumulated plans showed that plan conformity decreased with increasing tumor motion amplitude. When comparing dose profiles assumed in the margin formula model to the treatment plans, discrepancies in the low dose regions were observed for the random and systematic error simulations. However, the margin formula respected, in all experiments, the 95% dose coverage required for planning target volume (PTV) margin derivation, as defined by the ICRU; thus, suitable PTV margins were estimated. The penumbra widths calculated in lung tissue for each plan were found to be very similar to the 6.4 mm value assumed by the margin formula model. The plan conformity correction yielded inconsistent results which were largely affected by image and dose grid resolution while the trajectory modified PTV plans yielded a dosimetric benefit over the standard internal target volumes approach with up to a 5% decrease in the V20 value.Conclusions: The margin formula showed to be robust against variations in tumor size and motion, treatment technique, plan conformity, as well as low tissue density. This was validated by maintaining coverage of all of the derived PTVs by 95% dose level, as required by the formal definition of the PTV. However, the assumption of perfect plan conformity in the margin formula derivation yields conservative margin estimation. Future modifications to the margin formula will require a correction for plan conformity. Plan conformity can also be improved by using the proposed trajectory modified PTV planning approach. This proves especially beneficial for tumors with a large anterior–posterior component of respiratory motion.« less

Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay.

PubMed

Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

2013-01-01

This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.

Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay

PubMed Central

Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

2013-01-01

This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs. PMID:23833548

Relating constrained motion to force through Newton's second law

NASA Astrophysics Data System (ADS)

Roithmayr, Carlos M.

When a mechanical system is subject to constraints its motion is in some way restricted. In accordance with Newton's second law, motion is a direct result of forces acting on a system; hence, constraint is inextricably linked to force. The presence of a constraint implies the application of particular forces needed to compel motion in accordance with the constraint; absence of a constraint implies the absence of such forces. The objective of this thesis is to formulate a comprehensive, consistent, and concise method for identifying a set of forces needed to constrain the behavior of a mechanical system modeled as a set of particles and rigid bodies. The goal is accomplished in large part by expressing constraint equations in vector form rather than entirely in terms of scalars. The method developed here can be applied whenever constraints can be described at the acceleration level by a set of independent equations that are linear in acceleration. Hence, the range of applicability extends to servo-constraints or program constraints described at the velocity level with relationships that are nonlinear in velocity. All configuration constraints, and an important class of classical motion constraints, can be expressed at the velocity level by using equations that are linear in velocity; therefore, the associated constraint equations are linear in acceleration when written at the acceleration level. Two new approaches are presented for deriving equations governing motion of a system subject to constraints expressed at the velocity level with equations that are nonlinear in velocity. By using partial accelerations instead of the partial velocities normally employed with Kane's method, it is possible to form dynamical equations that either do or do not contain evidence of the constraint forces, depending on the analyst's interests.

SU-F-T-389: Validation in 4D Dosimetry Using Dynamic Phantom

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lin, C; Lin, C; Tu, P

2016-06-15

Purpose: Tumor motion due to respiration causes the uncertainties during the radiotherapy. This study aims to find the differences between planning dose by treatment planning and the received dose using dynamic phantom. Methods: Respiratory motion was simulated by the DYNAMIC THORAX PHANTOM (Model 008A). 4D-CT scans and maximum intensity projection (MIP) images for GTV were acquired for analysis. The amplitude of craniocaudal tumor motion including 2mm, 5mm, 10mm and 20mm with 3cm2 tumor size were performed in this study. The respiratory cycles of 4-seconds and 6-seconds were included as the different breathing modes. IMRT, VAMT, and Tomotherapy were utilized formore » treatment planning. Ion chamber and EBT3 were used to measure the point dose and planar dose. Dose distributions with different amplitudes, respiratory cycles, and planning techniques were all measured and compared to calculations. Results: The variations between the does measurements and calculation dose by treatment planning system were found in both point dose and dose distribution. The 0.83% and 5.46 % differences in dose average were shown on phantom with motions using 2mm amplitude in 4 second respiratory cycle, and 20mm amplitude in 4 second respiratory cycle, respectively. The most point dose overestimation as compared of the calculations was shown the plan generated by Tomotherapy. The underestimations of planar dose as compared of calculations was found in the 100% coverage doses for GTV. Conclusion: The loss of complete (100%) GTV coverage was the predominant effect of respiratory motion observed in this study. Motion amplitude and treatment planning system were the major factors leading the dose measurement variation as compared of planning calculations.« less

WE-AB-209-12: Quasi Constrained Multi-Criteria Optimization for Automated Radiation Therapy Treatment Planning

DOE Office of Scientific and Technical Information (OSTI.GOV)

Watkins, W.T.; Siebers, J.V.

Purpose: To introduce quasi-constrained Multi-Criteria Optimization (qcMCO) for unsupervised radiation therapy optimization which generates alternative patient-specific plans emphasizing dosimetric tradeoffs and conformance to clinical constraints for multiple delivery techniques. Methods: For N Organs At Risk (OARs) and M delivery techniques, qcMCO generates M(N+1) alternative treatment plans per patient. Objective weight variations for OARs and targets are used to generate alternative qcMCO plans. For 30 locally advanced lung cancer patients, qcMCO plans were generated for dosimetric tradeoffs to four OARs: each lung, heart, and esophagus (N=4) and 4 delivery techniques (simple 4-field arrangements, 9-field coplanar IMRT, 27-field non-coplanar IMRT, and non-coplanarmore » Arc IMRT). Quasi-constrained objectives included target prescription isodose to 95% (PTV-D95), maximum PTV dose (PTV-Dmax)< 110% of prescription, and spinal cord Dmax<45 Gy. The algorithm’s ability to meet these constraints while simultaneously revealing dosimetric tradeoffs was investigated. Statistically significant dosimetric tradeoffs were defined such that the coefficient of determination between dosimetric indices which varied by at least 5 Gy between different plans was >0.8. Results: The qcMCO plans varied mean dose by >5 Gy to ipsilateral lung for 24/30 patients, contralateral lung for 29/30 patients, esophagus for 29/30 patients, and heart for 19/30 patients. In the 600 plans computed without human interaction, average PTV-D95=67.4±3.3 Gy, PTV-Dmax=79.2±5.3 Gy, and spinal cord Dmax was >45 Gy in 93 plans (>50 Gy in 2/600 plans). Statistically significant dosimetric tradeoffs were evident in 19/30 plans, including multiple tradeoffs of at least 5 Gy between multiple OARs in 7/30 cases. The most common statistically significant tradeoff was increasing PTV-Dmax to reduce OAR dose (15/30 patients). Conclusion: The qcMCO method can conform to quasi-constrained objectives while revealing significant variations in OAR doses including mean dose reductions >5 Gy. Clinical implementation will facilitate patient-specific decision making based on achievable dosimetry as opposed to accept/reject models based on population derived objectives.« less

Tumor control probability reduction in gated radiotherapy of non-small cell lung cancers: a feasibility study.

PubMed

Siochi, R Alfredo; Kim, Yusung; Bhatia, Sudershan

2014-10-16

We studied the feasibility of evaluating tumor control probability (TCP) reductions for tumor motion beyond planned gated radiotherapy margins. Tumor motion was determined from cone-beam CT projections acquired for patient setup, intrafraction respiratory traces, and 4D CTs for five non-small cell lung cancer (NSCLC) patients treated with gated radiotherapy. Tumors were subdivided into 1 mm sections whose positions and doses were determined for each beam-on time point. (The dose calculation model was verified with motion phantom measurements.) The calculated dose distributions were used to generate the treatment TCPs for each patient. The plan TCPs were calculated from the treatment planning dose distributions. The treatment TCPs were compared to the plan TCPs for various models and parameters. Calculated doses matched phantom measurements within 0.3% for up to 3 cm of motion. TCP reductions for excess motion greater than 5mm ranged from 1.7% to 11.9%, depending on model parameters, and were as high as 48.6% for model parameters that simulated an individual patient. Repeating the worst case motion for all fractions increased TCP reductions by a factor of 2 to 3, while hypofractionation decreased these reductions by as much as a factor of 3. Treatment motion exceeding gating margins by more than 5 mm can lead to considerable TCP reductions. Appropriate margins for excess motion are recommended, unless applying daily tumor motion verification and adjusting thegating window.

The detection of impact regions of asteroids' orbits by means of constrained minimization of confidence coefficient. (Russian Title: Выявление областей столкновительных орбит астероидов с помощью условной минимизации доверительного коэффициента)

NASA Astrophysics Data System (ADS)

Baturin, A. P.

2014-12-01

The theme of NEO's impact orbits' regions detecting has been considered. The regions have been detected in the space of initial motion parameters. The detecting has been done by means of constrained minimization of so called "confidence coefficient". This coefficient determines the position of an orbit inside its confidence ellipsoid obtained from a least-square orbit fitting. As a condition the constraining of an asteroid-Earth distance at considered encounter has been used. By means of random variation of initial approximations for the minimization and of the parameter constraining an asteroid-Earth distance it has been demonstrated that impact regions usually have a form of some long tubes in the space of initial motion parameters. The demonstration has been done for the asteroids 2009 FD, 2011 TO and 2012 PB20 at their waited closest encounters to the Earth.

Experimental Evaluation of the High-Speed Motion Vector Measurement by Combining Synthetic Aperture Array Processing with Constrained Least Square Method

NASA Astrophysics Data System (ADS)

Yokoyama, Ryouta; Yagi, Shin-ichi; Tamura, Kiyoshi; Sato, Masakazu

2009-07-01

Ultrahigh speed dynamic elastography has promising potential capabilities in applying clinical diagnosis and therapy of living soft tissues. In order to realize the ultrahigh speed motion tracking at speeds of over thousand frames per second, synthetic aperture (SA) array signal processing technology must be introduced. Furthermore, the overall system performance should overcome the fine quantitative evaluation in accuracy and variance of echo phase changes distributed across a tissue medium. On spatial evaluation of local phase changes caused by pulsed excitation on a tissue phantom, investigation was made with the proposed SA signal system utilizing different virtual point sources that were generated by an array transducer to probe each component of local tissue displacement vectors. The final results derived from the cross-correlation method (CCM) brought about almost the same performance as obtained by the constrained least square method (LSM) extended to successive echo frames. These frames were reconstructed by SA processing after the real-time acquisition triggered by the pulsed irradiation from a point source. The continuous behavior of spatial motion vectors demonstrated the dynamic generation and traveling of the pulsed shear wave at a speed of one thousand frames per second.

Motion planning for autonomous vehicle based on radial basis function neural network in unstructured environment.

PubMed

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-09-18

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality.

Motion Planning for Autonomous Vehicle Based on Radial Basis Function Neural Network in Unstructured Environment

PubMed Central

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-01-01

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality. PMID:25237902

Three-dimensional analysis of the respiratory interplay effect in helical tomotherapy: Baseline variations cause the greater part of dose inhomogeneities seen.

PubMed

Tudor, G Samuel J; Harden, Susan V; Thomas, Simon J

2014-03-01

Dose differences from those planned can occur due to the respiratory interplay effect on helical tomotherapy. The authors present a technique to calculate single-fraction doses in three-dimensions resulting from craniocaudal motion applied to a patient CT set. The technique is applied to phantom and patient plans using patient respiratory traces. An additional purpose of the work is to determine the contribution toward the interplay effect of different components of the respiratory trace. MATLAB code used to calculate doses to a CT dataset from a helical tomotherapy plan has been modified to permit craniocaudal motion and improved temporal resolution. Real patient traces from seven patients were applied to ten phantom plans of differing field width, modulation factor, pitch and fraction dose, and simulations made with peak-to-peak amplitudes ranging from 0 to 2.5 cm. PTV voxels near the superior or inferior limits of the PTV are excluded from the analysis. The maximum dose discrepancy compared with the static case recorded along with the proportion of voxels receiving more than 10% and 20% different from prescription dose. The analysis was repeated with the baseline variation of the respiratory trace removed, leaving the cyclic component of motion only. Radiochromic film was used on one plan-trace combination and compared with the software simulation. For one case, filtered traces were generated and used in simulations which consisted only of frequencies near to particular characteristic frequencies of the treatment delivery. Intraslice standard deviation of dose differences was used to identify potential MLC interplay, which was confirmed using nonmodulated simulations. Software calculations were also conducted for four realistic patient plans and modeling movement of a patient CT set with amplitudes informed by the observed motion of the GTV on 4DCT. The maximum magnitude of dose difference to a PTV voxel due to the interplay effect within a particular plan-trace combination for peak-to-peak amplitudes of up to 2.5 cm ranged from 4.5% to 51.6% (mean: 23.8%) of the dose delivered in the absence of respiratory motion. For cyclic motion only, the maximum dose differences in each combination ranged from 2.1% to 26.2% (mean: 9.2%). There is reasonable correspondence between an example of the phantom plan simulations and radiochromic film measurement. The filtered trace simulations revealed that frequencies close to the characteristic frequency of the jaw motion across the target were found to generate greater interplay effect than frequencies close to the gantry frequency or MLC motion. There was evidence of interplay between respiratory motion and MLC modulation, but this is small compared with the interplay between respiratory motion and jaw motion. For patient-plan simulations, dose discrepancies are seen of up to 9.0% for a patient with 0.3 cm peak-to-peak respiratory amplitude and up to 17.7% for a patient with 0.9 cm peak-to-peak amplitude. These values reduced to 1.3% and 6.5%, respectively, when only cyclic motion was considered. Software has been developed to simulate craniocaudal respiratory motion in phantom and patient plans using real patient respiratory traces. Decomposition of the traces into baseline andcyclic components reveals that the large majority of the interplay effect seen with the full trace is due to baseline variation during treatment.

MO-FG-CAMPUS-TeP2-01: A Graph Form ADMM Algorithm for Constrained Quadratic Radiation Treatment Planning

DOE Office of Scientific and Technical Information (OSTI.GOV)

Liu, X; Belcher, AH; Wiersma, R

Purpose: In radiation therapy optimization the constraints can be either hard constraints which must be satisfied or soft constraints which are included but do not need to be satisfied exactly. Currently the voxel dose constraints are viewed as soft constraints and included as a part of the objective function and approximated as an unconstrained problem. However in some treatment planning cases the constraints should be specified as hard constraints and solved by constrained optimization. The goal of this work is to present a computation efficiency graph form alternating direction method of multipliers (ADMM) algorithm for constrained quadratic treatment planning optimizationmore » and compare it with several commonly used algorithms/toolbox. Method: ADMM can be viewed as an attempt to blend the benefits of dual decomposition and augmented Lagrangian methods for constrained optimization. Various proximal operators were first constructed as applicable to quadratic IMRT constrained optimization and the problem was formulated in a graph form of ADMM. A pre-iteration operation for the projection of a point to a graph was also proposed to further accelerate the computation. Result: The graph form ADMM algorithm was tested by the Common Optimization for Radiation Therapy (CORT) dataset including TG119, prostate, liver, and head & neck cases. Both unconstrained and constrained optimization problems were formulated for comparison purposes. All optimizations were solved by LBFGS, IPOPT, Matlab built-in toolbox, CVX (implementing SeDuMi) and Mosek solvers. For unconstrained optimization, it was found that LBFGS performs the best, and it was 3–5 times faster than graph form ADMM. However, for constrained optimization, graph form ADMM was 8 – 100 times faster than the other solvers. Conclusion: A graph form ADMM can be applied to constrained quadratic IMRT optimization. It is more computationally efficient than several other commercial and noncommercial optimizers and it also used significantly less computer memory.« less

Financially Constrained Transportation Planning and Programming Process

DOT National Transportation Integrated Search

1997-03-01

This case study report is intended to provide metropolitan planning organizations (MPOs), state departments of transportation and transit agencies with a greater understanding of the important role that financial information plays in the planning and...

Using ground based data as a precursor for Gaia in getting proper motions of satellites

NASA Astrophysics Data System (ADS)

Fritz, Tobias K.; Linden, Sean T.; Zivick, Paul; Kallivayalil, Nitya; Bovy, Jo

2018-04-01

We present our effort to measure the proper motions of satellites in the halo of the Milky Way with mainly ground based telescopes as a precursor on what is possible with Gaia. For our first study, we used wide field optical data from the LBT combined with a first epoch of SDSS observations, on the globular cluster Palomar 5 (Pal 5). Since Pal 5 is associated with a tidal stream it is very useful to constrain the shape of the potential of the Milky Way. The motion and other properties of the Pal 5 system constrain the inner halo of the Milky Way to be rather spherical. Further, we combined adaptive optics and HST to get an absolute proper motion of the globular cluster Pyxis. Using the proper motion and the line-of-sight velocity we find that the orbit of Pyxis is rather eccentric with its apocenter at more than 100 kpc and its pericenter at about 30 kpc. The dynamics excludes an association with the ATLAS stream, the Magellanic clouds, and all satellites of the Milky Way at least down to the mass of Leo II. However, the properties of Pyxis, like metallicity and age, point to an origin from a dwarf of at least the mass of Leo II. We therefore propose that Pyxis originated from an unknown relatively massive dwarf galaxy, which is likely today fully disrupted. Assuming that Pyxis is bound to the Milky Way we derive a 68% lower limit on the mass of the Milky Way of 9.5 × 1011 M⊙.

Balancing shortening and extension around the Adriatic Plate to constrain its independent motion and driving forces since Late Cretaceous time.

NASA Astrophysics Data System (ADS)

Le Breton, E.; Handy, M.; Ustaszewski, K. M.

2015-12-01

The Adriatic microplate (Adria) is a key player in the geodynamics of the Western Mediterranean area because it separates two major plates, Africa and Europe, that have been converging since Late Cretaceous time. Today, Adria comprises only continental lithosphere and is surrounded by zones of distributed deformation along convergent boundaries (Alps, Apennines, Calabrian Arc, Dinarides-Hellenides,) and back-arc basins (Liguro-Provencal, Tyrrhenian). For a long time, Adria was thought to be a promontory of Africa and thus to have moved coherently with Africa. However, recent re-evaluation of geological and geophysical data from the Alps yields an independent motion path for Adria that features a significant change in the direction and rate of its motion relative to both Africa and Europe since late Cretaceous time. To evaluate this, we first compare existing plate reconstructions of the Western Mediterranean to develop a best-fit model for the motion of Africa, Iberia and the Corsica-Sardinia block relative to Europe. We then use two motion models for Adria in which Adria moved either coherently or independently of Africa since late Cretaceous time. The model for independent Adria motion is further constrained by new estimates of extension and shortening in the Western Mediterranean and Northern Apennines based on field observations and recently published Moho depth maps, seismic profiles along the Gulf of Lion - Sardinian passive margins and the Northern Apennines. Initial results suggest that Miocene extension and opening of the Liguro-Provencal basin exceeds Miocene-to-Recent shortening related to roll-back subduction in the Northern Apennines; we attribute this to counter-clockwise rotation of the Adriatic plate with respect to Europe. Combined with the previously published estimates of shortening in the Alps, this counter-clockwise motion is predicted to have produced significantly less post-Paleogene, orogen-normal shortening in the Dinarides than previously thought. This modified motion path for Adria raises the question of what forces drive the motion of Adria; so far, the most likely explanation invokes a combination of trench suction and slab pull along the northern borders of Adria in Late Cretaceous-Paleogene time, transitional to Africa push since Early Miocene time.

Constraints from Seamounts on Pacific Plate or Plume Motion Prior to 80 Ma.

NASA Astrophysics Data System (ADS)

Konter, J. G.; Koppers, A. A. P.; Jackson, M. G.; Finlayson, V.; Konrad, K.

2015-12-01

The Hawaii-Emperor and Louisville hotspot tracks have long dominated the data set constraining absolute plate motion models. However, prior to ~80 Ma, multiple shorter, discontinuous hotspot trails and oceanic plateaus have been used to constrain absolute plate motion. Based on this earlier work, a clear Hawaii-Emperor style bend seems apparent around 100 Ma in the West Pacific Seamount Province (WPSP). More importantly, the ongoing debate on a plate versus plume motion origin for the Hawaii-Emperor Bend is applicable here, as the ~100 Ma bend may correspond to a global plate reorganization (Matthews et al., EPSL, 2012). Data for a comparison of bends comes from three groups with similar geographic patterns: 1) Mid-Pacific Mountains, Line Islands; 2) Shatsky Rise, Hess Rise, Musician and Wentworth Seamounts; and 3) Wake Seamounts, Marshall Islands, Magellan Seamounts. Both groups 1 and 2 feature a large igneous province (LIP) at their oldest end: Shatsky Rise and the Mid-Pacific Mountains. According to plate reconstructions these LIPs were constructed near all-ridge triple junctions, thus potential plume-ridge interactions need to be clarified before these LIPs can be used to define an absolute mantle reference frame. In contrast, the volcanoes of the third group (Wake, Marshall, Magellan) did erupt truly intra-plate and we therefore argue that this group provides a constraint on plate motion beyond 80 Ma that is independent of plume-ridge interactions. Since the volcanoes in this group are part of the WPSP, which is densely populated with seamounts, a combination of 40Ar/39Ar ages and Sr-Nd-Pb-Hf isotopes is needed to distinguish different hotspot tracks in this region. Backtracking each volcano through its age to its original eruptive location and using compositional color-coding, reveals groupings and patterns that vary by plate motion model, while the temporal patterns of backtracked locations inform us about potential plume motions.

Resource Constrained Planning of Multiple Projects with Separable Activities

NASA Astrophysics Data System (ADS)

Fujii, Susumu; Morita, Hiroshi; Kanawa, Takuya

In this study we consider a resource constrained planning problem of multiple projects with separable activities. This problem provides a plan to process the activities considering a resource availability with time window. We propose a solution algorithm based on the branch and bound method to obtain the optimal solution minimizing the completion time of all projects. We develop three methods for improvement of computational efficiency, that is, to obtain initial solution with minimum slack time rule, to estimate lower bound considering both time and resource constraints and to introduce an equivalence relation for bounding operation. The effectiveness of the proposed methods is demonstrated by numerical examples. Especially as the number of planning projects increases, the average computational time and the number of searched nodes are reduced.

HST Proper Motions of Distant Globular Clusters: Constraining the Formation & Mass of the Milky Way

NASA Astrophysics Data System (ADS)

Sohn, S. Tony; van der Marel, Roeland P.; Deason, Alis; Bellini, Andrea; Besla, Gurtina; Watkins, Laura

2018-04-01

Proper motions (PMs) are required to calculate accurate orbits of globular clusters (GCs) in the Milky Way (MW) halo. We present our HST program to create a PM database for 20 GCs at distances of R GC = 10-100 kpc. Targets are discussed along with PM measurement methods. We also describe how our PM results can be used for Gaia as an external check, and discuss the synergy between HST and Gaia as astrometric instruments in the coming years.

Flexure Based Linear and Rotary Bearings

NASA Technical Reports Server (NTRS)

Voellmer, George M. (Inventor)

2016-01-01

A flexure based linear bearing includes top and bottom parallel rigid plates; first and second flexures connecting the top and bottom plates and constraining exactly four degrees of freedom of relative motion of the plates, the four degrees of freedom being X and Y axis translation and rotation about the X and Y axes; and a strut connecting the top and bottom plates and further constraining exactly one degree of freedom of the plates, the one degree of freedom being one of Z axis translation and rotation about the Z axis.

Motion induced interplay effects for VMAT radiotherapy.

PubMed

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 developed and verified with measurements, which allowed for a large number of treatment scenarios to be investigated. The simulations showed large interplay effects for individual fractions and that the extent of interplay effects varied with the breathing pattern, FFF/FF, dose level, CTV size, collimator angle, and the complexity of the treatment plan.

Motion induced interplay effects for VMAT radiotherapy

NASA Astrophysics Data System (ADS)

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 developed and verified with measurements, which allowed for a large number of treatment scenarios to be investigated. The simulations showed large interplay effects for individual fractions and that the extent of interplay effects varied with the breathing pattern, FFF/FF, dose level, CTV size, collimator angle, and the complexity of the treatment plan.

Interplay effect on a 6-MV flattening-filter-free linear accelerator with high dose rate and fast multi-leaf collimator motion treating breast and lung phantoms.

PubMed

Netherton, Tucker; Li, Yuting; Nitsch, Paige; Shaitelman, Simona; Balter, Peter; Gao, Song; Klopp, Ann; Muruganandham, Manickam; Court, Laurence

2018-06-01

Using a new linear accelerator with high dose rate (800 MU/min), fast MLC motions (5.0 cm/s), fast gantry rotation (15 s/rotation), and 1 cm wide MLCs, we aimed to quantify the effects of complexity, arc number, and fractionation on interplay for breast and lung treatments under target motion. To study lung interplay, eight VMAT plans (1-6 arcs) and four-nine-field sliding-window IMRT plans varying in complexity were created. For the breast plans, four-four-field sliding-window IMRT plans were created. Using the Halcyon 1.0 linear accelerator, each plan was delivered five times each under sinusoidal breathing motion to a phantom with 20 implanted MOSFET detectors; MOSFET dose (cGy), delivery time, and MU/cGy values were recorded. Maximum and mean dose deviations were calculated from MOSFET data. The number of MOSFETs with at least 19 of 20 detectors agreeing with their expected dose within 5% per fraction was calculated across 10 6 iterations to model dose deviation as function of fraction number for all plan variants. To put interplay plans into clinical context, additional IMRT and VMAT plans were created and delivered for the sites of head and neck, prostate, whole brain, breast, pelvis, and lung. Average modulation and interplay effect were compared to those from conventional linear accelerators, as reported from previous studies. The mean beam modulation for plans created for the Halcyon 1.0 linear accelerator was 2.9 MU/cGy (two- to four-field IMRT breast plans), 6.2 MU/cGy (at least five-field IMRT), and 3.6 MU/cGy (four-arc VMAT). To achieve treatment plan objectives, Halcyon 1.0 VMAT plans require more arcs and modulation than VMAT on conventional linear accelerators. Maximum and mean dose deviations increased with increasing plan complexity under tumor motion for breast and lung treatments. Concerning VMAT plans under motion, maximum, and mean dose deviations were higher for one arc than for two arcs regardless of plan complexity. For plan variants with maximum dose deviations greater than 3.7%, dose deviation as a function of fraction number was protracted. For treatments on the Halcyon 1.0 linear accelerator, the convergence of dose deviation with fraction number happened more slowly than reported for conventional linear accelerators. However, if plan complexity is reduced for IMRT and if tumor motion is less than ~10-mm, interplay is greatly reduced. To minimize dose deviations across multiple fractions for dynamic targets, we recommend limiting treatment plan complexity and avoiding one-arc VMAT on the Halcyon 1.0 linear accelerator when interplay is a concern. © 2018 American Association of Physicists in Medicine.

Focal mechanisms and the stress regime in NE and SW Tanzania, East Africa

NASA Astrophysics Data System (ADS)

Brazier, Richard A.; Nyblade, Andrew A.; Florentin, Juliette

2005-07-01

We report 12 new focal mechanisms from earthquakes in NE and SW Tanzania where the stress regime within the East African rift system is not well constrained. Focal mechanisms for events at the intersection of the Lake Tanganyika and Rukwa rifts in SW Tanzania indicate a complicated stress pattern with possible dextral strike-slip motion on some faults but oblique motion on others (either sinistral on NW striking faults or dextral on NE striking faults). Within the Rukwa rift, focal mechanisms indicate normal dip-slip motion with NE-SW opening. In NE Tanzania where the Eastern rift impinges on the margin of the Tanzania Craton, fault motions are consistent with a zone of distributed block faults and sub E-W extension. All twelve earthquakes likely nucleated within the crust.

SU-E-T-574: Novel Chance-Constrained Optimization in Intensity-Modulated Proton Therapy Planning to Account for Range and Patient Setup Uncertainties

DOE Office of Scientific and Technical Information (OSTI.GOV)

An, Y; Liang, J; Liu, W

2015-06-15

Purpose: We propose to apply a probabilistic framework, namely chanceconstrained optimization, in the intensity-modulated proton therapy (IMPT) planning subject to range and patient setup uncertainties. The purpose is to hedge against the influence of uncertainties and improve robustness of treatment plans. Methods: IMPT plans were generated for a typical prostate patient. Nine dose distributions are computed — the nominal one and one each for ±5mm setup uncertainties along three cardinal axes and for ±3.5% range uncertainty. These nine dose distributions are supplied to the solver CPLEX as chance constraints to explicitly control plan robustness under these representative uncertainty scenarios withmore » certain probability. This probability is determined by the tolerance level. We make the chance-constrained model tractable by converting it to a mixed integer optimization problem. The quality of plans derived from this method is evaluated using dose-volume histogram (DVH) indices such as tumor dose homogeneity (D5% – D95%) and coverage (D95%) and normal tissue sparing like V70 of rectum, V65, and V40 of bladder. We also compare the results from this novel method with the conventional PTV-based method to further demonstrate its effectiveness Results: Our model can yield clinically acceptable plans within 50 seconds. The chance-constrained optimization produces IMPT plans with comparable target coverage, better target dose homogeneity, and better normal tissue sparing compared to the PTV-based optimization [D95% CTV: 67.9 vs 68.7 (Gy), D5% – D95% CTV: 11.9 vs 18 (Gy), V70 rectum: 0.0 % vs 0.33%, V65 bladder: 2.17% vs 9.33%, V40 bladder: 8.83% vs 21.83%]. It also simultaneously makes the plan more robust [Width of DVH band at D50%: 2.0 vs 10.0 (Gy)]. The tolerance level may be varied to control the tradeoff between plan robustness and quality. Conclusion: The chance-constrained optimization generates superior IMPT plan compared to the PTV-based optimization with explicit control of plan robustness. NIH/NCI K25CA168984, Eagles Cancer Research Career Development, The Lawrence W. and Marilyn W. Matteson Fund for Cancer Research, Mayo ASU Seed Grant, and The Kemper Marley Foundation.« less

Orientation selectivity sharpens motion detection in Drosophila

PubMed Central

Fisher, Yvette E.; Silies, Marion; Clandinin, Thomas R.

2015-01-01

SUMMARY Detecting the orientation and movement of edges in a scene is critical to visually guided behaviors of many animals. What are the circuit algorithms that allow the brain to extract such behaviorally vital visual cues? Using in vivo two-photon calcium imaging in Drosophila, we describe direction selective signals in the dendrites of T4 and T5 neurons, detectors of local motion. We demonstrate that this circuit performs selective amplification of local light inputs, an observation that constrains motion detection models and confirms a core prediction of the Hassenstein-Reichardt Correlator (HRC). These neurons are also orientation selective, responding strongly to static features that are orthogonal to their preferred axis of motion, a tuning property not predicted by the HRC. This coincident extraction of orientation and direction sharpens directional tuning through surround inhibition and reveals a striking parallel between visual processing in flies and vertebrate cortex, suggesting a universal strategy for motion processing. PMID:26456048

Improving Power Density of Free-Piston Stirling Engines

NASA Technical Reports Server (NTRS)

Briggs, Maxwell H.; Prahl, Joseph M.; Loparo, Kenneth A.

2016-01-01

Analyses and experiments demonstrate the potential benefits of optimizing piston and displacer motion in a free-piston Stirling Engine. Isothermal analysis shows the theoretical limits of power density improvement due to ideal motion in ideal Stirling engines. More realistic models based on nodal analysis show that ideal piston and displacer waveforms are not optimal, often producing less power than engines that use sinusoidal piston and displacer motion. Constrained optimization using nodal analysis predicts that Stirling engine power density can be increased by as much as 58 percent using optimized higher harmonic piston and displacer motion. An experiment is conducted in which an engine designed for sinusoidal motion is forced to operate with both second and third harmonics, resulting in a piston power increase of as much as 14 percent. Analytical predictions are compared to experimental data and show close agreement with indirect thermodynamic power calculations, but poor agreement with direct electrical power measurements.

Improving Power Density of Free-Piston Stirling Engines

NASA Technical Reports Server (NTRS)

Briggs, Maxwell H.; Prahl, Joseph; Loparo, Kenneth

2016-01-01

Analyses and experiments demonstrate the potential benefits of optimizing piston and displacer motion in a free piston Stirling Engine. Isothermal analysis shows the theoretical limits of power density improvement due to ideal motion in ideal Stirling engines. More realistic models based on nodal analysis show that ideal piston and displacer waveforms are not optimal, often producing less power than engines that use sinusoidal piston and displacer motion. Constrained optimization using nodal analysis predicts that Stirling engine power density can be increased by as much as 58 using optimized higher harmonic piston and displacer motion. An experiment is conducted in which an engine designed for sinusoidal motion is forced to operate with both second and third harmonics, resulting in a maximum piston power increase of 14. Analytical predictions are compared to experimental data showing close agreement with indirect thermodynamic power calculations, but poor agreement with direct electrical power measurements.

Improving Free-Piston Stirling Engine Power Density

NASA Technical Reports Server (NTRS)

Briggs, Maxwell H.

2016-01-01

Analyses and experiments demonstrate the potential benefits of optimizing piston and displacer motion in a free piston Stirling Engine. Isothermal analysis shows the theoretical limits of power density improvement due to ideal motion in ideal Stirling engines. More realistic models based on nodal analysis show that ideal piston and displacer waveforms are not optimal, often producing less power than engines that use sinusoidal piston and displacer motion. Constrained optimization using nodal analysis predicts that Stirling engine power density can be increased by as much as 58% using optimized higher harmonic piston and displacer motion. An experiment is conducted in which an engine designed for sinusoidal motion is forced to operate with both second and third harmonics, resulting in a maximum piston power increase of 14%. Analytical predictions are compared to experimental data showing close agreement with indirect thermodynamic power calculations, but poor agreement with direct electrical power measurements.

Proper Motion of Components in 4C 39.25

NASA Technical Reports Server (NTRS)

Guirado, J. C.; Marcaide, J. M.; Alberdi, A.; Elosegui, P.; Ratner, M. I.; Shapiro, I. I.; Kilger, R.; Mantovani, F.; Venturi, T.; Rius, A.;

Ground-motion prediction from tremor

USGS Publications Warehouse

Baltay, Annemarie S.; Beroza, Gregory C.

2013-01-01

The widespread occurrence of tremor, coupled with its frequency content and location, provides an exceptional opportunity to test and improve strong ground-motion attenuation relations for subduction zones. We characterize the amplitude of thousands of individual 5 min tremor events in Cascadia during three episodic tremor and slip events to constrain the distance decay of peak ground acceleration (PGA) and peak ground velocity (PGV). We determine the anelastic attenuation parameter for ground-motion prediction equations (GMPEs) to a distance of 150 km, which is sufficient to place important constraints on ground-motion decay. Tremor PGA and PGV show a distance decay that is similar to subduction-zone-specific GMPEs developed from both data and simulations; however, the massive amount of data present in the tremor observations should allow us to refine distance-amplitude attenuation relationships for use in hazard maps, and to search for regional variations and intrasubduction zone differences in ground-motion attenuation.

Mathematical Modeling Of The Terrain Around A Robot

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1992-01-01

In conceptual system for modeling of terrain around autonomous mobile robot, representation of terrain used for control separated from representation provided by sensors. Concept takes motion-planning system out from under constraints imposed by discrete spatial intervals of square terrain grid(s). Separation allows sensing and motion-controlling systems to operate asynchronously; facilitating integration of new map and sensor data into planning of motions.

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

USGS Publications Warehouse

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.

Single-step collision-free trajectory planning of biped climbing robots in spatial trusses.

PubMed

Zhu, Haifei; Guan, Yisheng; Chen, Shengjun; Su, Manjia; Zhang, Hong

For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator. In addition, the pre- and post-processes are introduced to expedite the convergence of the Bi-RRT algorithm and to ensure the safe motion of the climbing robot near poles as well. The piecewise linear paths are smoothed by utilizing cubic B-spline curve fitting. The effectiveness and efficiency of the presented Bi-RRT algorithm for climbing motion planning are verified by simulations.

SU-F-J-124: Reduction in Dosimetric Impact of Motion Using VMAT Compared to IMRT in Hypofractionated Prostate Cancer Patients

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ravindranath, B; Xiong, J; Happersett, L

2016-06-15

Purpose: To quantify and compare the dosimetric impact of motion management correction strategies during VMAT and IMRT for hypofractionated prostate treatment. Methods: Two arc VMAT and 9 field IMRT plans were generated for two prostate cancer patients undergoing hypofractionated radiotherapy (7.5Gy × 5 and 8Gy × 5). 212 motion traces were retrospectively extracted from treatment records of prostate cancer patients with implanted Calypso beacons. Dose to the CTV and normal tissues was reconstructed for each trace and plan taking into account the actual treatment delivery time. Following motion correction scenarios were simulated: (1) VMAT plan – (a) No correction, (b)more » correction between arcs, (c) correction every 20 degrees of gantry rotation and (2) IMRT plan - (a) No correction,(b) correction between fields. Two mm action threshold for position correction was assumed. The 5–95% confidence interval (CI) range was extracted from the family of DVHs for each correction scenario. Results: Treatment duration for 8Gy plan (VMAT vs IMRT) was 3 vs 12 mins and for 7.5Gy plan was 3 vs 9 mins. In the absence of correction, the VMAT 5–−95% CI dose spread was, on average, less than the IMRT dose spread by 2% for CTVD95, 9% for rectalwall (RW) D1cc and 9% for bladderwall (BW) D53. Further, VMAT b/w arcs correction strategy reduced the spread about the planned value compared to IMRT b/w fields correction by: 1% for CTVD95, 2.6% for RW1cc and 2% for BWD53. VMAT 20 degree strategy led to greater reduction in dose spread compared to IMRT by: 2% for CTVD95, 4.5% for RW1cc and 6.7% for BWD53. Conclusion: In the absence of a correction strategy, the limited motion during VMAT’s shorter delivery times translates into less motion-induced dosimetric degradation than IMRT. Performing limited periodic motion correction during VMAT can yield excellent conformity to planned values that is superior to IMRT. This work was partially supported by Varian Medical Systems.« less

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

PubMed

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.

Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles

NASA Astrophysics Data System (ADS)

Cowlagi, Raghvendra V.

Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the vehicle kinematical model. We propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-path problem on graphs, namely, one using costs defined on multiple edge transitions in the path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric path is always associated with a kinematically and dynamically feasible trajectory. The main contributions of this thesis are: 1. A motion planning framework based on history-dependent costs (H-costs) in cell decomposition graphs for incorporating vehicle dynamical constraints: this framework offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local feedback-based, decoupled hierarchical motion planning, 2. An efficient and flexible algorithm for finding optimal H-cost paths, 3. A precise and general formulation of a local trajectory problem (the tile motion planning problem) that allows independent development of the discrete planner and the trajectory planner, while maintaining "compatibility" between the two planners, 4. A local trajectory generation algorithm using mpc, and the application of the concept of effective target sets for a significant simplification of the local trajectory generation problem, 5. The geometric analysis of curvature-bounded traversal of rectangular channels, leading to less conservative results in comparison with a result reported in the literature, and also to the efficient construction of effective target sets for the solution of the tile motion planning problem, 6. A wavelet-based multi-resolution path planning scheme, and a proof of completeness of the proposed scheme: such proofs are altogether absent from other works on multi-resolution path planning, 7. A technique for extracting all information about cells---namely, the locations, the sizes, and the associated image intensities---directly from the set of significant detail coefficients considered for path planning at a given iteration, and 8. The extension of the multi-resolution path planning scheme to include vehicle dynamical constraints using the aforementioned history-dependent costs approach. The future work includes an implementation of the proposed framework involving a discrete planner that solves classical planning problems more general than the single-query path planning problem considered thus far, and involving trajectory generation schemes for realistic vehicle dynamical models such as the bicycle model.

Rotational-path decomposition based recursive planning for spacecraft attitude reorientation

NASA Astrophysics Data System (ADS)

Xu, Rui; Wang, Hui; Xu, Wenming; Cui, Pingyuan; Zhu, Shengying

2018-02-01

The spacecraft reorientation is a common task in many space missions. With multiple pointing constraints, it is greatly difficult to solve the constrained spacecraft reorientation planning problem. To deal with this problem, an efficient rotational-path decomposition based recursive planning (RDRP) method is proposed in this paper. The uniform pointing-constraint-ignored attitude rotation planning process is designed to solve all rotations without considering pointing constraints. Then the whole path is checked node by node. If any pointing constraint is violated, the nearest critical increment approach will be used to generate feasible alternative nodes in the process of rotational-path decomposition. As the planning path of each subdivision may still violate pointing constraints, multiple decomposition is needed and the reorientation planning is designed as a recursive manner. Simulation results demonstrate the effectiveness of the proposed method. The proposed method has been successfully applied in two SPARK microsatellites to solve onboard constrained attitude reorientation planning problem, which were developed by the Shanghai Engineering Center for Microsatellites and launched on 22 December 2016.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Heijkoop, Sabrina T., E-mail: s.heijkoop@erasmusmc.nl; Langerak, Thomas R.; Quint, Sandra

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 targetmore » 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 online adaptive plan-of-the-day protocol for locally advanced cervical cancer enables (almost) daily tissue-sparing IMRT.« less

The ShakeOut earthquake source and ground motion simulations

USGS Publications Warehouse

Graves, R.W.; Houston, Douglas B.; Hudnut, K.W.

2011-01-01

The ShakeOut Scenario is premised upon the detailed description of a hypothetical Mw 7.8 earthquake on the southern San Andreas Fault and the associated simulated ground motions. The main features of the scenario, such as its endpoints, magnitude, and gross slip distribution, were defined through expert opinion and incorporated information from many previous studies. Slip at smaller length scales, rupture speed, and rise time were constrained using empirical relationships and experience gained from previous strong-motion modeling. Using this rupture description and a 3-D model of the crust, broadband ground motions were computed over a large region of Southern California. The largest simulated peak ground acceleration (PGA) and peak ground velocity (PGV) generally range from 0.5 to 1.0 g and 100 to 250 cm/s, respectively, with the waveforms exhibiting strong directivity and basin effects. Use of a slip-predictable model results in a high static stress drop event and produces ground motions somewhat higher than median level predictions from NGA ground motion prediction equations (GMPEs).

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

NASA Astrophysics Data System (ADS)

Asgari, Jamal; Mohammadloo, Tannaz H.; Amiri-Simkooei, Ali Reza

2015-09-01

GNSS kinematic techniques are capable of providing precise coordinates in extremely short observation time-span. These methods usually determine the coordinates of an unknown station with respect to a reference one. To enhance the precision, accuracy, reliability and integrity of the estimated unknown parameters, GNSS kinematic equations are to be augmented by possible constraints. Such constraints could be derived from the geometric relation of the receiver positions in motion. This contribution presents the formulation of the constrained kinematic global navigation satellite systems positioning. Constraints effectively restrict the definition domain of the unknown parameters from the three-dimensional space to a subspace defined by the equation of motion. To test the concept of the constrained kinematic positioning method, the equation of a circle is employed as a constraint. A device capable of moving on a circle was made and the observations from 11 positions on the circle were analyzed. Relative positioning was conducted by considering the center of the circle as the reference station. The equation of the receiver's motion was rewritten in the ECEF coordinates system. A special attention is drawn onto how a constraint is applied to kinematic positioning. Implementing the constraint in the positioning process provides much more precise results compared to the unconstrained case. This has been verified based on the results obtained from the covariance matrix of the estimated parameters and the empirical results using kinematic positioning samples as well. The theoretical standard deviations of the horizontal components are reduced by a factor ranging from 1.24 to 2.64. The improvement on the empirical standard deviation of the horizontal components ranges from 1.08 to 2.2.

High speed precision motion strategies for lightweight structures

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1987-01-01

Work during the recording period proceeded along the lines of the proposal, i.e., three aspects of high speed motion planning and control of flexible structures were explored: fine motion control, gross motion planning and control, and automation using light weight arms. In addition, modeling the large manipulator arm to be used in experiments and theory has lead to some contributions in that area. These aspects are reported below. Conference, workshop and journal submissions, and presentations related to this work were seven in number, and are listed. Copies of written papers and abstracts are included.

Impact of geometric uncertainties on dose calculations for intensity modulated radiation therapy of prostate cancer

NASA Astrophysics Data System (ADS)

Jiang, Runqing

Intensity-modulated radiation therapy (IMRT) uses non-uniform beam intensities within a radiation field to provide patient-specific dose shaping, resulting in a dose distribution that conforms tightly to the planning target volume (PTV). Unavoidable geometric uncertainty arising from patient repositioning and internal organ motion can lead to lower conformality index (CI) during treatment delivery, a decrease in tumor control probability (TCP) and an increase in normal tissue complication probability (NTCP). The CI of the IMRT plan depends heavily on steep dose gradients between the PTV and organ at risk (OAR). Geometric uncertainties reduce the planned dose gradients and result in a less steep or "blurred" dose gradient. The blurred dose gradients can be maximized by constraining the dose objective function in the static IMRT plan or by reducing geometric uncertainty during treatment with corrective verification imaging. Internal organ motion and setup error were evaluated simultaneously for 118 individual patients with implanted fiducials and MV electronic portal imaging (EPI). A Gaussian probability density function (PDF) is reasonable for modeling geometric uncertainties as indicated by the 118 patients group. The Gaussian PDF is patient specific and group standard deviation (SD) should not be used for accurate treatment planning for individual patients. In addition, individual SD should not be determined or predicted from small imaging samples because of random nature of the fluctuations. Frequent verification imaging should be employed in situations where geometric uncertainties are expected. Cumulative PDF data can be used for re-planning to assess accuracy of delivered dose. Group data is useful for determining worst case discrepancy between planned and delivered dose. The margins for the PTV should ideally represent true geometric uncertainties. The measured geometric uncertainties were used in this thesis to assess PTV coverage, dose to OAR, equivalent uniform dose per fraction (EUDf) and NTCP. The dose distribution including geometric uncertainties was determined from integration of the convolution of the static dose gradient with the PDF. Integration of the convolution of the static dose and derivative of the PDF can also be used to determine the dose including geometric uncertainties although this method was not investigated in detail. Local maximum dose gradient (LMDG) was determined via optimization of dose objective function by manually adjusting DVH control points or selecting beam numbers and directions during IMRT treatment planning. Minimum SD (SDmin) is used when geometric uncertainty is corrected with verification imaging. Maximum SD (SDmax) is used when the geometric uncertainty is known to be large and difficult to manage. SDmax was 4.38 mm in anterior-posterior (AP) direction, 2.70 mm in left-right (LR) direction and 4.35 mm in superior-inferior (SI) direction; SDmin was 1.1 mm in all three directions if less than 2 mm threshold was used for uncorrected fractions in every direction. EUDf is a useful QA parameter for interpreting the biological impact of geometric uncertainties on the static dose distribution. The EUD f has been used as the basis for the time-course NTCP evaluation in the thesis. Relative NTCP values are useful for comparative QA checking by normalizing known complications (e.g. reported in the RTOG studies) to specific DVH control points. For prostate cancer patients, rectal complications were evaluated from specific RTOG clinical trials and detailed evaluation of the treatment techniques (e.g. dose prescription, DVH, number of beams, bean angles). Treatment plans that did not meet DVH constraints represented additional complication risk. Geometric uncertainties improved or worsened rectal NTCP depending on individual internal organ motion within patient.

A New Southern North Atlantic Isochron Map: Insights Into the Drift of the Iberian Plate Since the Late Cretaceous

NASA Astrophysics Data System (ADS)

Macchiavelli, Chiara; Vergés, Jaume; Schettino, Antonio; Fernández, Manel; Turco, Eugenio; Casciello, Emilio; Torne, Montserrat; Pierantoni, Pietro Paolo; Tunini, Lavinia

2017-12-01

This paper presents a new southern North Atlantic plate model from Late Cretaceous to present, with the aim of constraining the kinematics of the Iberian plate during the last 83.5 Myr. This model is presented along with a detailed isochron map generated through the analysis of 3 aeromagnetic tracks and 400 ship tracks from the National Centers for Environmental Information database. We present a new technique to obtain well-constrained estimates of the Iberia-North America plate motions from magnetic anomalies, overcoming the scarcity of large-offset fracture zones and transform faults. We build an integrated kinematic model for NW Africa, Morocco, Iberia, Europe, and North America, which shows that the deformation is partitioned between Pyrenees and Betic-Rif orogenic domain during the Late Cretaceous-Oligocene time interval. In the Eastern Betics domain, the calculated amount of NW Africa-Iberia convergence is 80 km between 83.5 and 34 Ma, followed by 150 km since the Oligocene. The motion of Iberia relative to Europe in the Central Pyrenees is characterized by overall NE directed transpressional motion during the Campanian and the Paleocene, followed by NW directed transpressional movement until the Lutetian and overall NNW directed convergence from Bartonian to Chattian. This motion occurs along the axis of the Bay of Biscay from the Santonian-Campanian boundary to the middle Priabonian, subsequently jumping to King's Trough at Anomaly 17 (36.62 Ma).

Motion planning for an adaptive wing structure with macro-fiber composite actuators

NASA Astrophysics Data System (ADS)

Schröck, J.; Meurer, T.; Kugi, A.

2009-05-01

A systematic approach for flatness-based motion planning and feedforward control is presented for the transient shaping of a piezo-actuated rectangular cantilevered plate modeling an adaptive wing. In the first step the consideration of an idealized infinite-dimensional input allows to determine the state and input parametrization in terms of a flat or basic output, which is used for a systematic motion planning approach. Subsequently, the obtained idealized input function is projected onto a finite number of suitably placed Macro-fiber Composite (MFC) patch actuators. The tracking performance of the proposed approach is evaluated in a simulation scenario.

Multi-objective four-dimensional vehicle motion planning in large dynamic environments.

PubMed

Wu, Paul P-Y; Campbell, Duncan; Merz, Torsten

2011-06-01

This paper presents Multi-Step A∗ (MSA∗), a search algorithm based on A∗ for multi-objective 4-D vehicle motion planning (three spatial and one time dimensions). The research is principally motivated by the need for offline and online motion planning for autonomous unmanned aerial vehicles (UAVs). For UAVs operating in large dynamic uncertain 4-D environments, the motion plan consists of a sequence of connected linear tracks (or trajectory segments). The track angle and velocity are important parameters that are often restricted by assumptions and a grid geometry in conventional motion planners. Many existing planners also fail to incorporate multiple decision criteria and constraints such as wind, fuel, dynamic obstacles, and the rules of the air. It is shown that MSA∗ finds a cost optimal solution using variable length, angle, and velocity trajectory segments. These segments are approximated with a grid-based cell sequence that provides an inherent tolerance to uncertainty. The computational efficiency is achieved by using variable successor operators to create a multiresolution memory-efficient lattice sampling structure. The simulation studies on the UAV flight planning problem show that MSA∗ meets the time constraints of online replanning and finds paths of equivalent cost but in a quarter of the time (on average) of a vector neighborhood-based A∗.

The use of spatial dose gradients and probability density function to evaluate the effect of internal organ motion for prostate IMRT treatment planning

NASA Astrophysics Data System (ADS)

Jiang, Runqing; Barnett, Rob B.; Chow, James C. L.; Chen, Jeff Z. Y.

2007-03-01

The aim of this study is to investigate the effects of internal organ motion on IMRT treatment planning of prostate patients using a spatial dose gradient and probability density function. Spatial dose distributions were generated from a Pinnacle3 planning system using a co-planar, five-field intensity modulated radiation therapy (IMRT) technique. Five plans were created for each patient using equally spaced beams but shifting the angular displacement of the beam by 15° increments. Dose profiles taken through the isocentre in anterior-posterior (A-P), right-left (R-L) and superior-inferior (S-I) directions for IMRT plans were analysed by exporting RTOG file data from Pinnacle. The convolution of the 'static' dose distribution D0(x, y, z) and probability density function (PDF), denoted as P(x, y, z), was used to analyse the combined effect of repositioning error and internal organ motion. Organ motion leads to an enlarged beam penumbra. The amount of percentage mean dose deviation (PMDD) depends on the dose gradient and organ motion probability density function. Organ motion dose sensitivity was defined by the rate of change in PMDD with standard deviation of motion PDF and was found to increase with the maximum dose gradient in anterior, posterior, left and right directions. Due to common inferior and superior field borders of the field segments, the sharpest dose gradient will occur in the inferior or both superior and inferior penumbrae. Thus, prostate motion in the S-I direction produces the highest dose difference. The PMDD is within 2.5% when standard deviation is less than 5 mm, but the PMDD is over 2.5% in the inferior direction when standard deviation is higher than 5 mm in the inferior direction. Verification of prostate organ motion in the inferior directions is essential. The margin of the planning target volume (PTV) significantly impacts on the confidence of tumour control probability (TCP) and level of normal tissue complication probability (NTCP). Smaller margins help to reduce the dose to normal tissues, but may compromise the dose coverage of the PTV. Lower rectal NTCP can be achieved by either a smaller margin or a steeper dose gradient between PTV and rectum. With the same DVH control points, the rectum has lower complication in the seven-beam technique used in this study because of the steeper dose gradient between the target volume and rectum. The relationship between dose gradient and rectal complication can be used to evaluate IMRT treatment planning. The dose gradient analysis is a powerful tool to improve IMRT treatment plans and can be used for QA checking of treatment plans for prostate patients.

The use of spatial dose gradients and probability density function to evaluate the effect of internal organ motion for prostate IMRT treatment planning.

PubMed

Jiang, Runqing; Barnett, Rob B; Chow, James C L; Chen, Jeff Z Y

2007-03-07

The aim of this study is to investigate the effects of internal organ motion on IMRT treatment planning of prostate patients using a spatial dose gradient and probability density function. Spatial dose distributions were generated from a Pinnacle3 planning system using a co-planar, five-field intensity modulated radiation therapy (IMRT) technique. Five plans were created for each patient using equally spaced beams but shifting the angular displacement of the beam by 15 degree increments. Dose profiles taken through the isocentre in anterior-posterior (A-P), right-left (R-L) and superior-inferior (S-I) directions for IMRT plans were analysed by exporting RTOG file data from Pinnacle. The convolution of the 'static' dose distribution D0(x, y, z) and probability density function (PDF), denoted as P(x, y, z), was used to analyse the combined effect of repositioning error and internal organ motion. Organ motion leads to an enlarged beam penumbra. The amount of percentage mean dose deviation (PMDD) depends on the dose gradient and organ motion probability density function. Organ motion dose sensitivity was defined by the rate of change in PMDD with standard deviation of motion PDF and was found to increase with the maximum dose gradient in anterior, posterior, left and right directions. Due to common inferior and superior field borders of the field segments, the sharpest dose gradient will occur in the inferior or both superior and inferior penumbrae. Thus, prostate motion in the S-I direction produces the highest dose difference. The PMDD is within 2.5% when standard deviation is less than 5 mm, but the PMDD is over 2.5% in the inferior direction when standard deviation is higher than 5 mm in the inferior direction. Verification of prostate organ motion in the inferior directions is essential. The margin of the planning target volume (PTV) significantly impacts on the confidence of tumour control probability (TCP) and level of normal tissue complication probability (NTCP). Smaller margins help to reduce the dose to normal tissues, but may compromise the dose coverage of the PTV. Lower rectal NTCP can be achieved by either a smaller margin or a steeper dose gradient between PTV and rectum. With the same DVH control points, the rectum has lower complication in the seven-beam technique used in this study because of the steeper dose gradient between the target volume and rectum. The relationship between dose gradient and rectal complication can be used to evaluate IMRT treatment planning. The dose gradient analysis is a powerful tool to improve IMRT treatment plans and can be used for QA checking of treatment plans for prostate patients.

Marker-less respiratory motion modeling using the Microsoft Kinect for Windows

NASA Astrophysics Data System (ADS)

Tahavori, F.; Alnowami, M.; Wells, K.

2014-03-01

Patient respiratory motion is a major problem during external beam radiotherapy of the thoracic and abdominal regions due to the associated organ and target motion. In addition, such motion introduces uncertainty in both radiotherapy planning and delivery and may potentially vary between the planning and delivery sessions. The aim of this work is to examine subject-specific external respiratory motion and its associated drift from an assumed average cycle which is the basis for many respiratory motion compensated applications including radiotherapy treatment planning and delivery. External respiratory motion data were acquired from a group of 20 volunteers using a marker-less 3D depth camera, Kinect for Windows. The anterior surface encompassing thoracic and abdominal regions were subject to principal component analysis (PCA) to investigate dominant variations. The first principal component typically describes more than 70% of the motion data variance in the thoracic and abdominal surfaces. Across all of the subjects used in this study, 58% of subjects demonstrate largely abdominal breathing and 33% exhibited largely thoracic dominated breathing. In most cases there is observable drift in respiratory motion during the 300s capture period, which is visually demonstrated using Kernel Density Estimation. This study demonstrates that for this cohort of apparently healthy volunteers, there is significant respiratory motion drift in most cases, in terms of amplitude and relative displacement between the thoracic and abdominal respiratory components. This has implications for the development of effective motion compensation methodology.

Dynamic Parameters of the 2015 Nepal Gorkha Mw7.8 Earthquake Constrained by Multi-observations

NASA Astrophysics Data System (ADS)

Weng, H.; Yang, H.

2017-12-01

Dynamic rupture model can provide much detailed insights into rupture physics that is capable of assessing future seismic risk. Many studies have attempted to constrain the slip-weakening distance, an important parameter controlling friction behavior of rock, for several earthquakes based on dynamic models, kinematic models, and direct estimations from near-field ground motion. However, large uncertainties of the values of the slip-weakening distance still remain, mostly because of the intrinsic trade-offs between the slip-weakening distance and fault strength. Here we use a spontaneously dynamic rupture model to constrain the frictional parameters of the 25 April 2015 Mw7.8 Nepal earthquake, by combining with multiple seismic observations such as high-rate cGPS data, strong motion data, and kinematic source models. With numerous tests we find the trade-off patterns of final slip, rupture speed, static GPS ground displacements, and dynamic ground waveforms are quite different. Combining all the seismic constraints we can conclude a robust solution without a substantial trade-off of average slip-weakening distance, 0.6 m, in contrast to previous kinematical estimation of 5 m. To our best knowledge, this is the first time to robustly determine the slip-weakening distance on seismogenic fault from seismic observations. The well-constrained frictional parameters may be used for future dynamic models to assess seismic hazard, such as estimating the peak ground acceleration (PGA) etc. Similar approach could also be conducted for other great earthquakes, enabling broad estimations of the dynamic parameters in global perspectives that can better reveal the intrinsic physics of earthquakes.

Effect of intrafractional prostate motion on simultaneous boost intensity-modulated radiotherapy to the prostate: A simulation study based on intrafractional motion in the prone position

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ikeda, Itaru; Mizowaki, Takashi, E-mail: mizo@kuhp.kyoto-u.ac.jp; Ono, Tomohiro

2015-01-01

Although the prostate displacement of patients in the prone position is affected by respiration-induced motion, the effect of intrafractional prostate motion in the prone position during “simultaneous integrated boost intensity-modulated radiotherapy” (SIB-IMRT) is unclear. The purpose of this study was to evaluate the dosimetric effects of intrafractional motion on SIB-IMRT to a dominant intraprostatic lesion (IPL) using measured motion data of patients in a prone position, fixed with a thermoplastic shell. We obtained 2 orthogonal x-ray fluoroscopic images at the same moment every 0.2 seconds for 30 seconds before and after treatment, once weekly, from 7 patients with localized prostatemore » cancer with detectable prostatic calcification. Prostate displacements in the left-right (LR), anteroposterior (AP), and superoinferior (SI) directions were calculated using the prostatic calcification as a fiducial marker. We defined the displacement between pretreatment and posttreatment as baseline drift (BD). An SIB-IMRT plan was generated in which each IPL + 3 mm received a dose of 94.5 Gy, whereas the remainder of the prostate + 7 mm received a dose of 75.6 Gy in 9 fields. A simulated plan of dose blurring was generated by the convolution of isocenter-shifted plans using measured motion data in 30 seconds and motion in 30 seconds + distance between pretreatment and posttreatment position (BD) for each of the 7 patients. The motion in 30 seconds mainly reflected respiration-induced motion. The mean displacements of BD were 1.4 mm (− 3.1 to 8.2 mm), − 2.2 mm (− 9.1 to 1.5 mm), and − 0.3 mm (− 5.0 to 1.8 mm) in the AP, SI, and LR directions, respectively. The differences in the target coverage with V{sub 90%} of the IPL and V{sub 100%} of the prostate between the simulated plan and original plan were − 3.9% to − 0.3% and − 0.6% to 1.1% for respiration-induced motion and 3.1% to − 67.8% and 3.6% to − 13.3% for BD with respiration-induced motion, respectively. The large motion of BD resulted in an inadequate coverage by the prescribed dose of the SIB-IMRT to the IPL. A 7-mm margin is recommended when real-time tracking techniques are not applied. The effect of respiration-induced motion was small, so long as a 3-mm margin was added.« less

The Dispersal of East Gondwana from Continental Breakup to the Start of the Cretaceous Quiet Zone

NASA Astrophysics Data System (ADS)

Davis, J. K.; Lawver, L. A.; Norton, I. O.; Gahagan, L.

2014-12-01

Existing plate models for the breakup of Africa and East Gondwana (Australia, East Antarctica, India, Madagascar, the Seychelles, and Sri Lanka) are problematic and require revision. Specific problems include the utilization of dubious Gondwana configurations, improbable plate motion, and/or a failure to satisfy the holistic marine magnetic anomaly data. I present here a new model for the breakup of East Gondwana. This new model begins from a constrained, pre-breakup, Gondwana configuration. Out of this initial "tight-fit" configuration, East Gondwana rifts from West Gondwana (Africa & South America) as a cohesive unit. During this breakup and subsequent seafloor spreading, East Gondwana is devoid of any internal compression or anomalous plate motion. The overall motion of East Gondwana is constrained by seafloor spreading in the coeval Somali Basin and Mozambique/Riiser Larsen Basins. Seafloor spreading in these basins is modeled using existing marine magnetic anomaly interpretations and satellite-derived gravity data. Our model is uniquely able to satisfy the magnetic anomaly observations in both of the aforementioned basins without invoking improbable plate motion or configurations. Additionally, our plate model provides valuable insight into the breakup of India and East Antarctica. In this model, we fix India to Madagascar from breakup to 90 Ma, thus eventual separation between India and East Antarctica is an output, not an input of our model. We suggest that this separation occurred diachronously from ~140 Ma in the east to ~120 Ma in the west. This modeled motion between India and East Antarctica agrees well with geophysical observations from the margin of East Antarctica and our preliminary analysis of margin character and variability.

Role of quality of service metrics in visual target acquisition and tracking in resource constrained environments

NASA Astrophysics Data System (ADS)

Anderson, Monica; David, Phillip

2007-04-01

Implementation of an intelligent, automated target acquisition and tracking systems alleviates the need for operators to monitor video continuously. This system could identify situations that fatigued operators could easily miss. If an automated acquisition and tracking system plans motions to maximize a coverage metric, how does the performance of that system change when the user intervenes and manually moves the camera? How can the operator give input to the system about what is important and understand how that relates to the overall task balance between surveillance and coverage? In this paper, we address these issues by introducing a new formulation of the average linear uncovered length (ALUL) metric, specially designed for use in surveilling urban environments. This metric coordinates the often competing goals of acquiring new targets and tracking existing targets. In addition, it provides current system performance feedback to system users in terms of the system's theoretical maximum and minimum performance. We show the successful integration of the algorithm via simulation.

Agent Based Intelligence in a Tetrahedral Rover

NASA Technical Reports Server (NTRS)

Phelps, Peter; Truszkowski, Walt

2007-01-01

A tetrahedron is a 4-node 6-strut pyramid structure which is being used by the NASA - Goddard Space Flight Center as the basic building block for a new approach to robotic motion. The struts are extendable; it is by the sequence of activities: strut-extension, changing the center of gravity and falling that the tetrahedron "moves". Currently, strut-extension is handled by human remote control. There is an effort underway to make the movement of the tetrahedron autonomous, driven by an attempt to achieve a goal. The approach being taken is to associate an intelligent agent with each node. Thus, the autonomous tetrahedron is realized as a constrained multi-agent system, where the constraints arise from the fact that between any two agents there is an extendible strut. The hypothesis of this work is that, by proper composition of such automated tetrahedra, robotic structures of various levels of complexity can be developed which will support more complex dynamic motions. This is the basis of the new approach to robotic motion which is under investigation. A Java-based simulator for the single tetrahedron, realized as a constrained multi-agent system, has been developed and evaluated. This paper reports on this project and presents a discussion of the structure and dynamics of the simulator.

Broadband ground-motion simulation using a hybrid approach

USGS Publications Warehouse

Graves, R.W.; Pitarka, A.

2010-01-01

This paper describes refinements to the hybrid broadband ground-motion simulation methodology of Graves and Pitarka (2004), which combines a deterministic approach at low frequencies (f 1 Hz). In our approach, fault rupture is represented kinematically and incorporates spatial heterogeneity in slip, rupture speed, and rise time. The prescribed slip distribution is constrained to follow an inverse wavenumber-squared fall-off and the average rupture speed is set at 80% of the local shear-wave velocity, which is then adjusted such that the rupture propagates faster in regions of high slip and slower in regions of low slip. We use a Kostrov-like slip-rate function having a rise time proportional to the square root of slip, with the average rise time across the entire fault constrained empirically. Recent observations from large surface rupturing earthquakes indicate a reduction of rupture propagation speed and lengthening of rise time in the near surface, which we model by applying a 70% reduction of the rupture speed and increasing the rise time by a factor of 2 in a zone extending from the surface to a depth of 5 km. We demonstrate the fidelity of the technique by modeling the strong-motion recordings from the Imperial Valley, Loma Prieta, Landers, and Northridge earthquakes.

Poster — Thur Eve — 30: 4D VMAT dose calculation methodology to investigate the interplay effect: experimental validation using TrueBeam Developer Mode and Gafchromic film

DOE Office of Scientific and Technical Information (OSTI.GOV)

Teke, T; Milette, MP; Huang, V

2014-08-15

The interplay effect between the tumor motion and the radiation beam modulation during a VMAT treatment delivery alters the delivered dose distribution from the planned one. This work present and validate a method to accurately calculate the dose distribution in 4D taking into account the tumor motion, the field modulation and the treatment starting phase. A QUASAR™ respiratory motion phantom was 4D scanned with motion amplitude of 3 cm and with a 3 second period. A static scan was also acquired with the lung insert and the tumor contained in it centered. A VMAT plan with a 6XFFF beam wasmore » created on the averaged CT and delivered on a Varian TrueBeam and the trajectory log file was saved. From the trajectory log file 10 VMAT plans (one for each breathing phase) and a developer mode XML file were created. For the 10 VMAT plans, the tumor motion was modeled by moving the isocentre on the static scan, the plans were re-calculated and summed in the treatment planning system. In the developer mode, the tumor motion was simulated by moving the couch dynamically during the treatment. Gafchromic films were placed in the QUASAR phantom static and irradiated using the developer mode. Different treatment starting phase were investigated (no phase shift, maximum inhalation and maximum exhalation). Calculated and measured isodose lines and profiles are in very good agreement. For each starting phase, the dose distribution exhibit significant differences but are accurately calculated with the methodology presented in this work.« less

Using finite-difference waveform modeling to better understand rupture kinematics and path effects in ground motion modeling: an induced seismicity case study at the Groningen Gas field

NASA Astrophysics Data System (ADS)

Zurek, B.; Burnett, W. A.; deMartin, B.

2017-12-01

Ground motion models (GMMs) have historically been used as input in the development of probabilistic seismic hazard analysis (PSHA) and as an engineering tool to assess risk in building design. Generally these equations are developed from empirical analysis of observations that come from fairly complete catalogs of seismic events. One of the challenges when doing a PSHA analysis in a region where earthquakes are anthropogenically induced is that the catalog of observations is not complete enough to come up with a set of equations to cover all expected outcomes. For example, PSHA analysis at the Groningen gas field, an area of known induced seismicity, requires estimates of ground motions from tremors up to a maximum magnitude of 6.5 ML. Of the roughly 1300 recordable earthquakes the maximum observed magnitude to date has been 3.6ML. This paper is part of a broader study where we use a deterministic finite-difference wave-form modeling tool to compliment the traditional development of GMMs. Of particular interest is the sensitivity of the GMM's to uncertainty in the rupture process and how this scales to larger magnitude events that have not been observed. A kinematic fault rupture model is introduced to our waveform simulations to test the sensitivity of the GMMs to variability in the fault rupture process that is physically consistent with observations. These tests will aid in constraining the degree of variability in modeled ground motions due to a realistic range of fault parameters and properties. From this study it is our conclusion that in order to properly capture the uncertainty of the GMMs with magnitude up-scaling one needs to address the impact of uncertainty in the near field (<10km) imposed by the lack of constraint on the finite rupture model. By quantifying the uncertainty back to physical principles it is our belief that it can be better constrained and thus reduce exposure to risk. Further, by investigating and constraining the range of fault rupture scenarios and earthquake magnitudes on ground motion models, hazard and risk analysis in regions with incomplete earthquake catalogs, such as the Groningen gas field, can be better understood.

The influence of plan modulation on the interplay effect in VMAT liver SBRT treatments.

PubMed

Hubley, Emily; Pierce, Greg

2017-08-01

Volumetric modulated arc therapy (VMAT) uses multileaf collimator (MLC) leaves, gantry speed, and dose rate to modulate beam fluence, producing the highly conformal doses required for liver radiotherapy. When targets that move with respiration are treated with a dynamic fluence, there exists the possibility for interplay between the target and leaf motions. This study employs a novel motion simulation technique to determine if VMAT liver SBRT plans with an increase in MLC leaf modulation are more susceptible to dosimetric differences in the GTV due to interplay effects. For ten liver SBRT patients, two VMAT plans with different amounts of MLC leaf modulation were created. Motion was simulated using a random starting point in the respiratory cycle for each fraction. To isolate the interplay effect, motion was also simulated using four specific starting points in the respiratory cycle. The dosimetric differences caused by different starting points were examined by subtracting resultant dose distributions from each other. When motion was simulated using random starting points for each fraction, or with specific starting points, there were significantly more dose differences in the GTV (maximum 100cGy) for more highly modulated plans, but the overall plan quality was not adversely affected. Plans with more MLC leaf modulation are more susceptible to interplay effects, but dose differences in the GTV are clinically negligible in magnitude. Copyright © 2017 Associazione Italiana di Fisica Medica. Published by Elsevier Ltd. All rights reserved.

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

PubMed

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.

Simulation of solar array slewing of Indian remote sensing satellite

NASA Astrophysics Data System (ADS)

Maharana, P. K.; Goel, P. S.

The effect of flexible arrays on sun tracking for the IRS satellite is studied. Equations of motion of satellites carrying a rotating flexible appendage are developed following the Newton-Euler approach and utilizing the constrained modes of the appendage. The drive torque, detent torque and friction torque in the SADA are included in the model. Extensive simulations of the slewing motion are carried out. The phenomena of back-stepping, step-missing, step-slipping and the influences of array flexibility in the acquisition mode are observed for certain combinations of parameters.

Intraplate deformation, stress in the lithosphere and the driving mechanism for plate motions

NASA Technical Reports Server (NTRS)

Albee, Arden L.

1993-01-01

The initial research proposed was to use the predictions of geodynamical models of mantle flow, combined with geodetic observations of intraplate strain and stress, to better constrain mantle convection and the driving mechanism for plate motions and deformation. It is only now that geodetic observations of intraplate strain are becoming sufficiently well resolved to make them useful for substantial geodynamical inference to be made. A model of flow in the mantle that explains almost 90 percent of the variance in the observed longwavelength nonhydrostatic geoid was developed.

SU-C-18A-02: Image-Based Camera Tracking: Towards Registration of Endoscopic Video to CT

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ingram, S; Rao, A; Wendt, R

Purpose: Endoscopic examinations are routinely performed on head and neck and esophageal cancer patients. However, these images are underutilized for radiation therapy because there is currently no way to register them to a CT of the patient. The purpose of this work is to develop a method to track the motion of an endoscope within a structure using images from standard clinical equipment. This method will be incorporated into a broader endoscopy/CT registration framework. Methods: We developed a software algorithm to track the motion of an endoscope within an arbitrary structure. We computed frame-to-frame rotation and translation of the cameramore » by tracking surface points across the video sequence and utilizing two-camera epipolar geometry. The resulting 3D camera path was used to recover the surrounding structure via triangulation methods. We tested this algorithm on a rigid cylindrical phantom with a pattern spray-painted on the inside. We did not constrain the motion of the endoscope while recording, and we did not constrain our measurements using the known structure of the phantom. Results: Our software algorithm can successfully track the general motion of the endoscope as it moves through the phantom. However, our preliminary data do not show a high degree of accuracy in the triangulation of 3D point locations. More rigorous data will be presented at the annual meeting. Conclusion: Image-based camera tracking is a promising method for endoscopy/CT image registration, and it requires only standard clinical equipment. It is one of two major components needed to achieve endoscopy/CT registration, the second of which is tying the camera path to absolute patient geometry. In addition to this second component, future work will focus on validating our camera tracking algorithm in the presence of clinical imaging features such as patient motion, erratic camera motion, and dynamic scene illumination.« less

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

PubMed

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.

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

PubMed Central

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

2014-01-01

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. PMID:25412217

DMLC tracking and gating can improve dose coverage for prostate VMAT

DOE Office of Scientific and Technical Information (OSTI.GOV)

Colvill, E.; Northern Sydney Cancer Centre, Royal North Shore Hospital, Sydney, NSW 2065; School of Physics, University of Sydney, NSW 2006

2014-09-15

Purpose: To assess and compare the dosimetric impact of dynamic multileaf collimator (DMLC) tracking and gating as motion correction strategies to account for intrafraction motion during conventionally fractionated prostate radiotherapy. Methods: A dose reconstruction method was used to retrospectively assess the dose distributions delivered without motion correction during volumetric modulated arc therapy fractions for 20 fractions of five prostate cancer patients who received conventionally fractionated radiotherapy. These delivered dose distributions were compared with the dose distributions which would have been delivered had DMLC tracking or gating motion correction strategies been implemented. The delivered dose distributions were constructed by incorporating themore » observed prostate motion with the patient's original treatment plan to simulate the treatment delivery. The DMLC tracking dose distributions were constructed using the same dose reconstruction method with the addition of MLC positions from Linac log files obtained during DMLC tracking simulations with the observed prostate motions input to the DMLC tracking software. The gating dose distributions were constructed by altering the prostate motion to simulate the application of a gating threshold of 3 mm for 5 s. Results: The delivered dose distributions showed that dosimetric effects of intrafraction prostate motion could be substantial for some fractions, with an estimated dose decrease of more than 19% and 34% from the planned CTVD{sub 99%} and PTV D{sub 95%} values, respectively, for one fraction. Evaluation of dose distributions for DMLC tracking and gating deliveries showed that both interventions were effective in improving the CTV D{sub 99%} for all of the selected fractions to within 4% of planned value for all fractions. For the delivered dose distributions the difference in rectum V{sub 65%} for the individual fractions from planned ranged from −44% to 101% and for the bladder V{sub 65%} the range was −61% to 26% from planned. The application of tracking decreased the maximum rectum and bladder V{sub 65%} difference to 6% and 4%, respectively. Conclusions: For the first time, the dosimetric impact of DMLC tracking and gating to account for intrafraction motion during prostate radiotherapy has been assessed and compared with no motion correction. Without motion correction intrafraction prostate motion can result in a significant decrease in target dose coverage for a small number of individual fractions. This is unlikely to effect the overall treatment for most patients undergoing conventionally fractionated treatments. Both DMLC tracking and gating demonstrate dose distributions for all assessed fractions that are robust to intrafraction motion.« less

Spot Weight Adaptation for Moving Target in Spot Scanning Proton Therapy.

PubMed

Morel, Paul; Wu, Xiaodong; Blin, Guillaume; Vialette, Stéphane; Flynn, Ryan; Hyer, Daniel; Wang, Dongxu

2015-01-01

This study describes a real-time spot weight adaptation method in spot-scanning proton therapy for moving target or moving patient, so that the resultant dose distribution closely matches the planned dose distribution. The method proposed in this study adapts the weight (MU) of the delivering pencil beam to that of the target spot; it will actually hit during patient/target motion. The target spot that a certain delivering pencil beam may hit relies on patient monitoring and/or motion modeling using four-dimensional (4D) CT. After the adapted delivery, the required total weight [Monitor Unit (MU)] for this target spot is then subtracted from the planned value. With continuous patient motion and continuous spot scanning, the planned doses to all target spots will eventually be all fulfilled. In a proof-of-principle test, a lung case was presented with realistic temporal and motion parameters; the resultant dose distribution using spot weight adaptation was compared to that without using this method. The impact of the real-time patient/target position tracking or prediction was also investigated. For moderate motion (i.e., mean amplitude 0.5 cm), D95% to the planning target volume (PTV) was only 81.5% of the prescription (RX) dose; with spot weight adaptation PTV D95% achieves 97.7% RX. For large motion amplitude (i.e., 1.5 cm), without spot weight adaptation PTV D95% is only 42.9% of RX; with spot weight adaptation, PTV D95% achieves 97.7% RX. Larger errors in patient/target position tracking or prediction led to worse final target coverage; an error of 3 mm or smaller in patient/target position tracking is preferred. The proposed spot weight adaptation method was able to deliver the planned dose distribution and maintain target coverage when patient motion was involved. The successful implementation of this method would rely on accurate monitoring or prediction of patient/target motion.

Water Transport and the Evolution of CM Parent Bodies

NASA Technical Reports Server (NTRS)

Coker, Rob; Cohen, Barbara

2014-01-01

Meteorites have amino acids and hydrated minerals which constrain the peak temperature ranges they have experienced. CMs in particular have a narrow range (273-325K). Bulk fluid motion during hydration constrained to small scales (less than mm). Some asteroids are known to have hydrated minerals on their surfaces. It is presumed these two facts may be related. Problem: hydration only occurs (significantly) with liquid water; melting water only occurs early on in nebula (1-10 Myrs ANC); in nebula asteroid surface temperature very cold (approximately 150K). Can indigenous alteration produce CMs and/or surface hydration?

Image motion environments: background noise for movement-based animal signals.

PubMed

Peters, Richard; Hemmi, Jan; Zeil, Jochen

2008-05-01

Understanding the evolution of animal signals has to include consideration of the structure of signal and noise, and the sensory mechanisms that detect the signals. Considerable progress has been made in understanding sounds and colour signals, however, the degree to which movement-based signals are constrained by the particular patterns of environmental image motion is poorly understood. Here we have quantified the image motion generated by wind-blown plants at 12 sites in the coastal habitat of the Australian lizard Amphibolurus muricatus. Sampling across different plant communities and meteorological conditions revealed distinct image motion environments. At all locations, image motion became more directional and apparent speed increased as wind speeds increased. The magnitude of these changes and the spatial distribution of image motion, however, varied between locations probably as a function of plant structure and the topographic location. In addition, we show that the background motion noise depends strongly on the particular depth-structure of the environment and argue that such micro-habitat differences suggest specific strategies to preserve signal efficacy. Movement-based signals and motion processing mechanisms, therefore, may reveal the same type of habitat specific structural variation that we see for signals from other modalities.

On periodic solutions of an Atwood's pendulum

NASA Astrophysics Data System (ADS)

Mittleman, Donald

1987-05-01

An Atwood's pendulum is defined as an Atwood's machine in which one of two masses is allowed to swing as a pendulum while the other remains constrained to move only in the vertical direction. The pendulum motion of the one mass induces a varying tension in the connecting wire; this, in turn, produces motion in the second mass. It is shown that this motion can be made periodic if the ratio of the two masses and the dependency of this ratio on the initial conditions are chosen as prescribed in this report. If this condition is not met, the motion consists of the superposition of two motions. The first is motion in a constant gravitational field where the effective gravity is kg; the factor k is determined explicitly. The second is the periodic motion that is the central theme of this report. During the course of the analysis, the fundamental frequency of the periodic motion is determined. It is shown to be slightly higher than the frequency of a pendulum of comparable length swinging in the Earth's gravitational field; the factor is given explicitly. This work is restricted to the extent that small approximations are introduced initially for trigonometric functions.

Planning 4D intensity-modulated arc therapy for tumor tracking with a multileaf collimator

NASA Astrophysics Data System (ADS)

Niu, Ying; Betzel, Gregory T.; Yang, Xiaocheng; Gui, Minzhi; Parke, William C.; Yi, Byongyong; Yu, Cedric X.

2017-02-01

This study introduces a practical four-dimensional (4D) planning scheme of IMAT using 4D computed tomography (4D CT) for planning tumor tracking with dynamic multileaf beam collimation. We assume that patients can breathe regularly, i.e. the same way as during 4D CT with an unchanged period and amplitude, and that the start of 4D-IMAT delivery can be synchronized with a designated respiratory phase. Each control point of the IMAT-delivery process can be associated with an image set of 4D CT at a specified respiratory phase. Target is contoured at each respiratory phase without a motion-induced margin. A 3D-IMAT plan is first optimized on a reference-phase image set of 4D CT. Then, based on the projections of the planning target volume in the beam’s eye view at different respiratory phases, a 4D-IMAT plan is generated by transforming the segments of the optimized 3D plan by using a direct aperture deformation method. Compensation for both translational and deformable tumor motion is accomplished, and the smooth delivery of the transformed plan is ensured by forcing connectivity between adjacent angles (control points). It is envisioned that the resultant plans can be delivered accurately using the dose rate regulated tracking method which handles breathing irregularities (Yi et al 2008 Med. Phys. 35 3955-62).This planning process is straightforward and only adds a small step to current clinical 3D planning practice. Our 4D planning scheme was tested on three cases to evaluate dosimetric benefits. The created 4D-IMAT plans showed similar dose distributions as compared with the 3D-IMAT plans on a single static phase, indicating that our method is capable of eliminating the dosimetric effects of breathing induced target motion. Compared to the 3D-IMAT plans with large treatment margins encompassing respiratory motion, our 4D-IMAT plans reduced radiation doses to surrounding normal organs and tissues.

Collision-free motion planning for fiber positioner robots: discretization of velocity profiles

NASA Astrophysics Data System (ADS)

Makarem, Laleh; Kneib, Jean-Paul; Gillet, Denis; Bleuler, Hannes; Bouri, Mohamed; Hörler, Philippe; Jenni, Laurent; Prada, Francisco; Sánchez, Justo

2014-07-01

The next generation of large-scale spectroscopic survey experiments such as DESI, will use thousands of fiber positioner robots packed on a focal plate. In order to maximize the observing time with this robotic system we need to move in parallel the fiber-ends of all positioners from the previous to the next target coordinates. Direct trajectories are not feasible due to collision risks that could undeniably damage the robots and impact the survey operation and performance. We have previously developed a motion planning method based on a novel decentralized navigation function for collision-free coordination of fiber positioners. The navigation function takes into account the configuration of positioners as well as their envelope constraints. The motion planning scheme has linear complexity and short motion duration (2.5 seconds with the maximum speed of 30 rpm for the positioner), which is independent of the number of positioners. These two key advantages of the decentralization designate the method as a promising solution for the collision-free motion-planning problem in the next-generation of fiber-fed spectrographs. In a framework where a centralized computer communicates with the positioner robots, communication overhead can be reduced significantly by using velocity profiles consisting of a few bits only. We present here the discretization of velocity profiles to ensure the feasibility of a real-time coordination for a large number of positioners. The modified motion planning method that generates piecewise linearized position profiles guarantees collision-free trajectories for all the robots. The velocity profiles fit few bits at the expense of higher computational costs.

The Binding of Learning to Action in Motor Adaptation

PubMed Central

Gonzalez Castro, Luis Nicolas; Monsen, Craig Bryant; Smith, Maurice A.

2011-01-01

In motor tasks, errors between planned and actual movements generally result in adaptive changes which reduce the occurrence of similar errors in the future. It has commonly been assumed that the motor adaptation arising from an error occurring on a particular movement is specifically associated with the motion that was planned. Here we show that this is not the case. Instead, we demonstrate the binding of the adaptation arising from an error on a particular trial to the motion experienced on that same trial. The formation of this association means that future movements planned to resemble the motion experienced on a given trial benefit maximally from the adaptation arising from it. This reflects the idea that actual rather than planned motions are assigned ‘credit’ for motor errors because, in a computational sense, the maximal adaptive response would be associated with the condition credited with the error. We studied this process by examining the patterns of generalization associated with motor adaptation to novel dynamic environments during reaching arm movements in humans. We found that these patterns consistently matched those predicted by adaptation associated with the actual rather than the planned motion, with maximal generalization observed where actual motions were clustered. We followed up these findings by showing that a novel training procedure designed to leverage this newfound understanding of the binding of learning to action, can improve adaptation rates by greater than 50%. Our results provide a mechanistic framework for understanding the effects of partial assistance and error augmentation during neurologic rehabilitation, and they suggest ways to optimize their use. PMID:21731476

Motion Planning of Two Stacker Cranes in a Large-Scale Automated Storage/Retrieval System

NASA Astrophysics Data System (ADS)

Kung, Yiheng; Kobayashi, Yoshimasa; Higashi, Toshimitsu; Ota, Jun

We propose a method for reducing the computational time of motion planning for stacker cranes. Most automated storage/retrieval systems (AS/RSs) are only equipped with one stacker crane. However, this is logistically challenging, and greater work efficiency in warehouses, such as those using two stacker cranes, is required. In this paper, a warehouse with two stacker cranes working simultaneously is proposed. Unlike warehouses with only one crane, trajectory planning in those with two cranes is very difficult. Since there are two cranes working together, a proper trajectory must be considered to avoid collision. However, verifying collisions is complicated and requires a considerable amount of computational time. As transport work in AS/RSs occurs randomly, motion planning cannot be conducted in advance. Planning an appropriate trajectory within a restricted duration would be a difficult task. We thereby address the current problem of motion planning requiring extensive calculation time. As a solution, we propose a “free-step” to simplify the procedure of collision verification and reduce the computational time. On the other hand, we proposed a method to reschedule the order of collision verification in order to find an appropriate trajectory in less time. By the proposed method, we reduce the calculation time to less than 1/300 of that achieved in former research.

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

NASA Technical Reports Server (NTRS)

Blackmore, Lars

2008-01-01

Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Matney, Jason; Park, Peter C.; The University of Texas Graduate School of Biomedical Sciences, Houston, Texas

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 imagemore » 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 dosimetric error caused by breathing motion.« less

Dual mobility cups provide biomechanical advantages in situations at risk for dislocation: a finite element analysis.

PubMed

Terrier, Alexandre; Latypova, Adeliya; Guillemin, Maika; Parvex, Valérie; Guyen, Olivier

2017-03-01

Constrained devices, standard implants with large heads, and dual mobility systems have become popular options to manage instability after total hip arthroplasty (THA). Clinical results with these options have shown variable success rates and significant higher rates of aseptic loosening and mechanical failures with constrained implants. Literature suggests potential advantages of dual mobility, however little is known about its biomechanics. We present a comparative biomechanical study of a standard implant, a constrained implant, and a dual mobility system. A finite element analysis was developed to assess and compare these acetabular options with regard to the range of motion (ROM) to impingement, the angle of dislocation, the resistive torque, the volume of polyethylene (PE) with a stress above 80% of the elastic limit, and the interfacial cup/bone stress. Dual mobility implants provided the greatest ROM to impingement and allowed delaying subluxation and dislocation when compared to standard and constrained implants. Dual mobility also demonstrated the lowest resistive torque at subluxation while the constrained implant provided the greatest one. The lowest critical PE volume was observed with the dual mobility implant, and the highest stress at the interfaces was observed with the constrained implant. This study highlights the biomechanical advantages of dual mobility systems over constrained and standard implants, and is supported by the clinical results reported. Therefore, the use of dual mobility systems in situations at risk for instability should be advocated and constrained implants should be restricted to salvage situations.

Periodic Forced Response of Structures Having Three-Dimensional Frictional Constraints

NASA Astrophysics Data System (ADS)

CHEN, J. J.; YANG, B. D.; MENQ, C. H.

2000-01-01

Many mechanical systems have moving components that are mutually constrained through frictional contacts. When subjected to cyclic excitations, a contact interface may undergo constant changes among sticks, slips and separations, which leads to very complex contact kinematics. In this paper, a 3-D friction contact model is employed to predict the periodic forced response of structures having 3-D frictional constraints. Analytical criteria based on this friction contact model are used to determine the transitions among sticks, slips and separations of the friction contact, and subsequently the constrained force which consists of the induced stick-slip friction force on the contact plane and the contact normal load. The resulting constrained force is often a periodic function and can be considered as a feedback force that influences the response of the constrained structures. By using the Multi-Harmonic Balance Method along with Fast Fourier Transform, the constrained force can be integrated with the receptance of the structures so as to calculate the forced response of the constrained structures. It results in a set of non-linear algebraic equations that can be solved iteratively to yield the relative motion as well as the constrained force at the friction contact. This method is used to predict the periodic response of a frictionally constrained 3-d.o.f. oscillator. The predicted results are compared with those of the direct time integration method so as to validate the proposed method. In addition, the effect of super-harmonic components on the resonant response and jump phenomenon is examined.

Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1991-01-01

Motion planning and control for the joints of flexible manipulators are discussed. Specific topics covered include control of a flexible braced manipulator, control of a small working robot on a large flexible manipulator to suppress vibrations, control strategies for ensuring cooperation among disparate manipulators, and motion planning for robots in free-fall.

Dosimetric feasibility of MRI-guided external beam radiotherapy of the kidney

NASA Astrophysics Data System (ADS)

Stam, Mette K.; van Vulpen, Marco; Barendrecht, Maurits M.; Zonnenberg, Bernard A.; Crijns, Sjoerd P. M.; Lagendijk, Jan J. W.; Raaymakers, Bas W.

2013-07-01

At our institution a treatment for kidney tumours with an MRI-Linac is under development. In order to set inclusion criteria for this treatment the anatomical eligibility criteria and the influence of the motion compensation strategy on the delivered dose should be known. Twenty patients with a renal lesion underwent an MR-scan to image the kidney. Static treatment plans were made and the doses to the organs at risk were evaluated. Furthermore, to calculate the influence of remnant motion in a gated treatment, a convolution of the static dose plan with the residual motion in a gating window was done. For ten patients (50%) a static plan within the dose constraints could be obtained. For all patients where the kidney constraint was obeyed in the static plan, the dose to the gross tumour volume (GTV) and the ipsilateral kidney remained within limits for residual motion in a gating window up to and including 12 mm. For four patients (20%) no static plan without violation of the constraint to the ipsilateral kidney could be made. One of these patients had a tumour of 73 mm in the upper pole and the other patients had a tumour of at least 30 mm in the mid pole. In 6 patients (30%), where the bowels were within the planning target volume, the maximum dose to the bowels was above the limit used. Patient specific assessment might degrade this violation. For tumours smaller than 30 mm a clinically acceptable plan could be created. For other patients the feasibility depends on the geometry of the GTV and kidney. Neither the GTV coverage nor the ipsilateral kidney dose is compromised by breathing motion for gating with a gating window up to and including 12 mm.

UAV path planning using artificial potential field method updated by optimal control theory

NASA Astrophysics Data System (ADS)

Chen, Yong-bo; Luo, Guan-chen; Mei, Yue-song; Yu, Jian-qiao; Su, Xiao-long

2016-04-01

The unmanned aerial vehicle (UAV) path planning problem is an important assignment in the UAV mission planning. Based on the artificial potential field (APF) UAV path planning method, it is reconstructed into the constrained optimisation problem by introducing an additional control force. The constrained optimisation problem is translated into the unconstrained optimisation problem with the help of slack variables in this paper. The functional optimisation method is applied to reform this problem into an optimal control problem. The whole transformation process is deduced in detail, based on a discrete UAV dynamic model. Then, the path planning problem is solved with the help of the optimal control method. The path following process based on the six degrees of freedom simulation model of the quadrotor helicopters is introduced to verify the practicability of this method. Finally, the simulation results show that the improved method is more effective in planning path. In the planning space, the length of the calculated path is shorter and smoother than that using traditional APF method. In addition, the improved method can solve the dead point problem effectively.

Spiders in Motion: Demonstrating Adaptation, Structure-Function Relationships, and Trade-Offs in Invertebrates

ERIC Educational Resources Information Center

Bowlin, Melissa S.; McLeer, Dorothy F.; Danielson-Francois, Anne M.

2014-01-01

Evolutionary history and structural considerations constrain all aspects of animal physiology. Constraints on invertebrate locomotion are especially straightforward for students to observe and understand. In this exercise, students use spiders to investigate the concepts of adaptation, structure-function relationships, and trade-offs. Students…

Graphics simulation and training aids for advanced teleoperation

NASA Technical Reports Server (NTRS)

Kim, Won S.; Schenker, Paul S.; Bejczy, Antal K.

1993-01-01

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

Apparatus to position a microelectromechanical platform

DOEpatents

Miller, Samuel Lee; Rodgers, Murray Steven

2003-09-23

The present invention comprises a microelectromechanical positioner to achieve substantially translational positioning of a platform without rotational motion, thereby maintaining a constant angular orientation of the platform during movement. A linkage mechanism of the positioner can comprise parallelogram linkages to constrain the rotational motion of the platform. Such linkages further can comprise flexural hinges or other turning joints at the linkage pivots to eliminate the need for rubbing surfaces. A plurality of the linkage mechanisms can be used to enable translational motion of the platform with two degrees of freedom. A variety of means can be used to actuate the positioner. Independent actuation of the anchor links of the linkage mechanisms with rotary electrostatic actuators can be used to provide controlled translational movement of the platform.

The effect of uterine motion and uterine margins on target and normal tissue doses in intensity modulated radiation therapy of cervical cancer

NASA Astrophysics Data System (ADS)

Gordon, J. J.; Weiss, E.; Abayomi, O. K.; Siebers, J. V.; Dogan, N.

2011-05-01

In intensity modulated radiation therapy (IMRT) of cervical cancer, uterine motion can be larger than cervix motion, requiring a larger clinical target volume to planning target volume (CTV-to-PTV) margin around the uterine fundus. This work simulates different motion models and margins to estimate the dosimetric consequences. A virtual study used image sets from ten patients. Plans were created with uniform margins of 1 cm (PTVA) and 2.4 cm (PTVC), and a margin tapering from 2.4 cm at the fundus to 1 cm at the cervix (PTVB). Three inter-fraction motion models (MM) were simulated. In MM1, all structures moved with normally distributed rigid body translations. In MM2, CTV motion was progressively magnified as one moved superiorly from the cervix to the fundus. In MM3, both CTV and normal tissue motion were magnified as in MM2, modeling the scenario where normal tissues move into the void left by the mobile uterus. Plans were evaluated using static and percentile DVHs. For a conventional margin (PTVA), quasi-realistic uterine motion (MM3) reduces fundus dose by about 5 Gy and increases normal tissue volumes receiving 30-50 Gy by ~5%. A tapered CTV-to-PTV margin can restore fundus and CTV doses, but will increase normal tissue volumes receiving 30-50 Gy by a further ~5%.

Robust plan optimization for electromagnetic transponder guided hypo-fractionated prostate treatment using volumetric modulated arc therapy

NASA Astrophysics Data System (ADS)

Zhang, Pengpeng; Hunt, Margie; Happersett, Laura; Yang, Jie; Zelefsky, Michael; Mageras, Gig

2013-11-01

To develop an optimization algorithm for volumetric modulated arc therapy which incorporates an electromagnetic tracking (EMT) guided gating strategy and is robust to residual intra-fractional motion uncertainties. In a computer simulation, intra-fractional motion traces from prior treatments with EMT were converted to a probability distribution function (PDF), truncated using a patient specific action volume that encloses allowed deviations from the planned position, and renormalized to yield a new PDF with EMT-gated interventions. In lieu of a conventional planning target volume (PTV), multiple instances of clinical target volume (CTV) and organs at risk (OARs) were replicated and displaced to extreme positions inside the action volume representing possible delivery scenarios. When optimizing the volumetric modulated arc therapy plan, doses to the CTV and OARs were calculated as a sum of doses to the replicas weighted by the PDF to account for motion. A treatment plan meeting the clinical constraints was produced and compared to the counterpart conventional margin (PTV) plan. EMT traces from a separate testing database served to simulate motion during gated delivery. Dosimetric end points extracted from dose accumulations for each motion trace were utilized to evaluate potential clinical benefit. Five prostate cases from a hypofractionated protocol (42.5 Gy in 5 fractions) were retrospectively investigated. The patient specific gating window resulted in tight anterior and inferior action levels (∼1 mm) to protect rectal wall and bladder wall, and resulted in an average of four beam interruptions per fraction in the simulation. The robust-optimized plans achieved the same average CTV D95 coverage of 40.5 Gy as the PTV-optimized plans, but with reduced patient-averaged rectum wall D1cc by 2.2 Gy (range 0.7 to 4.7 Gy) and bladder wall mean dose by 2.9 Gy (range 2.0 to 3.4 Gy). Integration of an intra-fractional motion management strategy into the robust optimization process is feasible and may yield improved OAR sparing compared to the standard margin approach.

Robust plan optimization for electromagnetic transponder guided hypo-fractionated prostate treatment using volumetric modulated arc therapy.

PubMed

Zhang, Pengpeng; Hunt, Margie; Happersett, Laura; Yang, Jie; Zelefsky, Michael; Mageras, Gig

2013-11-07

To develop an optimization algorithm for volumetric modulated arc therapy which incorporates an electromagnetic tracking (EMT) guided gating strategy and is robust to residual intra-fractional motion uncertainties. In a computer simulation, intra-fractional motion traces from prior treatments with EMT were converted to a probability distribution function (PDF), truncated using a patient specific action volume that encloses allowed deviations from the planned position, and renormalized to yield a new PDF with EMT-gated interventions. In lieu of a conventional planning target volume (PTV), multiple instances of clinical target volume (CTV) and organs at risk (OARs) were replicated and displaced to extreme positions inside the action volume representing possible delivery scenarios. When optimizing the volumetric modulated arc therapy plan, doses to the CTV and OARs were calculated as a sum of doses to the replicas weighted by the PDF to account for motion. A treatment plan meeting the clinical constraints was produced and compared to the counterpart conventional margin (PTV) plan. EMT traces from a separate testing database served to simulate motion during gated delivery. Dosimetric end points extracted from dose accumulations for each motion trace were utilized to evaluate potential clinical benefit. Five prostate cases from a hypofractionated protocol (42.5 Gy in 5 fractions) were retrospectively investigated. The patient specific gating window resulted in tight anterior and inferior action levels (~1 mm) to protect rectal wall and bladder wall, and resulted in an average of four beam interruptions per fraction in the simulation. The robust-optimized plans achieved the same average CTV D95 coverage of 40.5 Gy as the PTV-optimized plans, but with reduced patient-averaged rectum wall D1cc by 2.2 Gy (range 0.7 to 4.7 Gy) and bladder wall mean dose by 2.9 Gy (range 2.0 to 3.4 Gy). Integration of an intra-fractional motion management strategy into the robust optimization process is feasible and may yield improved OAR sparing compared to the standard margin approach.

Poster — Thur Eve — 66: Robustness Assessment of a Novel IMRT Planning Method for Lung Radiotherapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ahanj, M.; Bissonnette, J.-P.; Heath, E.

2014-08-15

Conventional radiotherapy treatment planning for lung cancer accounts for tumour motion by increasing the beam apertures. We recently developed an IMRT planning strategy which uses reduced beam apertures in combination with an edge enhancing boost of 110% of the prescription dose to the volume that corresponds to the portion of the CTV that moves outside of the reduced beam. Previous results showed that this approach ensures target coverage while reducing lung dose. In the current study, we evaluate the robustness of this boost volume approach to changes in respiratory motion, including amplitude and phase weight variations. ITV and boost volumemore » plans were generated for 5 NSCLC patients with respiratory motion amplitudes ranging from 1 to 2 cm. A standard 5mm PTV margin was used for all plans. The ORBIT treatment planning tool was used to plan and accumulate dose over 10 respiratory phases defined by the 4DCT datasets. For the phase weight variation study, dose was accumulated for three scenarios: equally-weighted-phases, higher weight assigned to exhale phases and higher weight assigned to inhale phases. For the amplitude variation study, a numerical phantom was used to generate 4DCT datasets corresponding to 7 mm, 10 mm and 14 mm motion amplitudes. Preliminary results found that delivered plans for all phase weight scenarios were clinically acceptable. When normalized to mean lung dose, the boost volume plan delivered 5% more dose to the CTV which indicates the potential for dose escalation using this approach.« less

Fuzzy robust credibility-constrained programming for environmental management and planning.

PubMed

Zhang, Yimei; Hang, Guohe

2010-06-01

In this study, a fuzzy robust credibility-constrained programming (FRCCP) is developed and applied to the planning for waste management systems. It incorporates the concepts of credibility-based chance-constrained programming and robust programming within an optimization framework. The developed method can reflect uncertainties presented as possibility-density by fuzzy-membership functions. Fuzzy credibility constraints are transformed to the crisp equivalents with different credibility levels, and ordinary fuzzy inclusion constraints are determined by their robust deterministic constraints by setting a-cut levels. The FRCCP method can provide different system costs under different credibility levels (lambda). From the results of sensitivity analyses, the operation cost of the landfill is a critical parameter. For the management, any factors that would induce cost fluctuation during landfilling operation would deserve serious observation and analysis. By FRCCP, useful solutions can be obtained to provide decision-making support for long-term planning of solid waste management systems. It could be further enhanced through incorporating methods of inexact analysis into its framework. It can also be applied to other environmental management problems.

Neural-Dynamic-Method-Based Dual-Arm CMG Scheme With Time-Varying Constraints Applied to Humanoid Robots.

PubMed

Zhang, Zhijun; Li, Zhijun; Zhang, Yunong; Luo, Yamei; Li, Yuanqing

2015-12-01

We propose a dual-arm cyclic-motion-generation (DACMG) scheme by a neural-dynamic method, which can remedy the joint-angle-drift phenomenon of a humanoid robot. In particular, according to a neural-dynamic design method, first, a cyclic-motion performance index is exploited and applied. This cyclic-motion performance index is then integrated into a quadratic programming (QP)-type scheme with time-varying constraints, called the time-varying-constrained DACMG (TVC-DACMG) scheme. The scheme includes the kinematic motion equations of two arms and the time-varying joint limits. The scheme can not only generate the cyclic motion of two arms for a humanoid robot but also control the arms to move to the desired position. In addition, the scheme considers the physical limit avoidance. To solve the QP problem, a recurrent neural network is presented and used to obtain the optimal solutions. Computer simulations and physical experiments demonstrate the effectiveness and the accuracy of such a TVC-DACMG scheme and the neural network solver.

Comparison of anisotropic aperture based intensity modulated radiotherapy with 3D-conformal radiotherapy for the treatment of large lung tumors.

PubMed

Simeonova, Anna; Abo-Madyan, Yasser; El-Haddad, Mostafa; Welzel, Grit; Polednik, Martin; Boggula, Ramesh; Wenz, Frederik; Lohr, Frank

2012-02-01

IMRT allows dose escalation for large lung tumors, but respiratory motion may compromise delivery. A treatment plan that modulates fluence predominantly in the transversal direction and leaves the fluence identical in the direction of the breathing motion may reduce this problem. Planning-CT-datasets of 20 patients with Stage I-IV non small cell lung cancer (NSCLC) formed the basis of this study. A total of two IMRT plans and one 3D plan were created for each patient. Prescription dose was 60 Gy to the CTV and 70 Gy to the GTV. For the 3D plans an energy of 18 MV photons was used. IMRT plans were calculated for 6 MV photons with 13 coplanar and with 17 noncoplanar beams. Robustness of the used method of anisotropic modulation toward breathing motion was tested in a 13-field IMRT plan. As a consequence of identical prescription doses, mean target doses were similar for 3D and IMRT. Differences between 3D and 13- and 17-field IMRT were significant for CTV Dmin (43 Gy vs. 49.1 Gy vs. 48.6 Gy; p<0.001) and CTV D(95) (53.2 Gy vs. 55.0 Gy vs. 55.4 Gy; p=0.001). The D(mean) of the contralateral lung was significantly lower in the 17-field plans (17-field IMRT vs. 13- vs. 3D: 12.5 Gy vs. 14.8 Gy vs. 15.8 Gy: p<0.05). The spinal cord dose limit of 50 Gy was always respected in IMRT plans and only in 17 of 20 3D-plans. Heart D(max) was only marginally reduced with IMRT (3D vs. 13- vs. 17-field IMRT: 38.2 Gy vs. 36.8 Gy vs. 37.8 Gy). Simulated breathing motion caused only minor changes in the IMRT dose distribution (~0.5-1 Gy). Anisotropic modulation of IMRT improves dose delivery over 3D-RT and renders IMRT plans robust toward breathing induced organ motion, effectively preventing interplay effects. Copyright © 2011 Elsevier Ireland Ltd. All rights reserved.

Seismic‐wave attenuation determined from tectonic tremor in multiple subduction zones

USGS Publications Warehouse

Yabe, Suguru; Baltay, Annemarie S.; Ide, Satoshi; Beroza, Gregory C.

2014-01-01

Tectonic tremor provides a new source of observations that can be used to constrain the seismic attenuation parameter for ground‐motion prediction and hazard mapping. Traditionally, recorded earthquakes of magnitude ∼3–8 are used to develop ground‐motion prediction equations; however, typical earthquake records may be sparse in areas of high hazard. In this study, we constrain the distance decay of seismic waves using measurements of the amplitude decay of tectonic tremor, which is plentiful in some regions. Tectonic tremor occurs in the frequency band of interest for ground‐motion prediction (i.e., ∼2–8  Hz) and is located on the subducting plate interface, at the lower boundary of where future large earthquakes are expected. We empirically fit the distance decay of peak ground velocity from tremor to determine the attenuation parameter in four subduction zones: Nankai, Japan; Cascadia, United States–Canada; Jalisco, Mexico; and southern Chile. With the large amount of data available from tremor, we show that in the upper plate, the lower crust is less attenuating than the upper crust. We apply the same analysis to intraslab events in Nankai and show the possibility that waves traveling from deeper intraslab events experience more attenuation than those from the shallower tremor due to ray paths that pass through the subducting and highly attenuating oceanic crust. This suggests that high pore‐fluid pressure is present in the tremor source region. These differences imply that the attenuation parameter determined from intraslab earthquakes may underestimate ground motion for future large earthquakes on the plate interface.

A practical approach to superresolution

NASA Astrophysics Data System (ADS)

Farsiu, Sina; Elad, Michael; Milanfar, Peyman

2006-01-01

Theoretical and practical limitations usually constrain the achievable resolution of any imaging device. Super-Resolution (SR) methods are developed through the years to go beyond this limit by acquiring and fusing several low-resolution (LR) images of the same scene, producing a high-resolution (HR) image. The early works on SR, although occasionally mathematically optimal for particular models of data and noise, produced poor results when applied to real images. In this paper, we discuss two of the main issues related to designing a practical SR system, namely reconstruction accuracy and computational efficiency. Reconstruction accuracy refers to the problem of designing a robust SR method applicable to images from different imaging systems. We study a general framework for optimal reconstruction of images from grayscale, color, or color filtered (CFA) cameras. The performance of our proposed method is boosted by using powerful priors and is robust to both measurement (e.g. CCD read out noise) and system noise (e.g. motion estimation error). Noting that the motion estimation is often considered a bottleneck in terms of SR performance, we introduce the concept of "constrained motions" for enhancing the quality of super-resolved images. We show that using such constraints will enhance the quality of the motion estimation and therefore results in more accurate reconstruction of the HR images. We also justify some practical assumptions that greatly reduce the computational complexity and memory requirements of the proposed methods. We use efficient approximation of the Kalman Filter (KF) and adopt a dynamic point of view to the SR problem. Novel methods for addressing these issues are accompanied by experimental results on real data.

Tribology studies of the natural knee using an animal model in a new whole joint natural knee simulator.

PubMed

Liu, Aiqin; Jennings, Louise M; Ingham, Eileen; Fisher, John

2015-09-18

The successful development of early-stage cartilage and meniscus repair interventions in the knee requires biomechanical and biotribological understanding of the design of the therapeutic interventions and their tribological function in the natural joint. The aim of this study was to develop and validate a porcine knee model using a whole joint knee simulator for investigation of the tribological function and biomechanical properties of the natural knee, which could then be used to pre-clinically assess the tribological performance of cartilage and meniscal repair interventions prior to in vivo studies. The tribological performance of standard artificial bearings in terms of anterior-posterior (A/P) shear force was determined in a newly developed six degrees of freedom tribological joint simulator. The porcine knee model was then developed and the tribological properties in terms of shear force measurements were determined for the first time for three levels of biomechanical constraints including A/P constrained, spring force semi-constrained and A/P unconstrained conditions. The shear force measurements showed higher values under the A/P constrained condition (predominantly sliding motion) compared to the A/P unconstrained condition (predominantly rolling motion). This indicated that the shear force simulation model was able to differentiate between tribological behaviours when the femoral and tibial bearing was constrained to slide or/and roll. Therefore, this porcine knee model showed the potential capability to investigate the effect of knee structural, biomechanical and kinematic changes, as well as different cartilage substitution therapies on the tribological function of natural knee joints. Copyright © 2015 The Authors. Published by Elsevier Ltd.. All rights reserved.

Online compensation for target motion with scanned particle beams: simulation environment.

PubMed

Li, Qiang; Groezinger, Sven Oliver; Haberer, Thomas; Rietzel, Eike; Kraft, Gerhard

2004-07-21

Target motion is one of the major limitations of each high precision radiation therapy. Using advanced active beam delivery techniques, such as the magnetic raster scanning system for particle irradiation, the interplay between time-dependent beam and target position heavily distorts the applied dose distribution. This paper presents a simulation environment in which the time-dependent effect of target motion on heavy-ion irradiation can be calculated with dynamically scanned ion beams. In an extension of the existing treatment planning software for ion irradiation of static targets (TRiP) at GSI, the expected dose distribution is calculated as the sum of several sub-distributions for single target motion states. To investigate active compensation for target motion by adapting the position of the therapeutic beam during irradiation, the planned beam positions can be altered during the calculation. Applying realistic parameters to the planned motion-compensation methods at GSI, the effect of target motion on the expected dose uniformity can be simulated for different target configurations and motion conditions. For the dynamic dose calculation, experimentally measured profiles of the beam extraction in time were used. Initial simulations show the feasibility and consistency of an active motion compensation with the magnetic scanning system and reveal some strategies to improve the dose homogeneity inside the moving target. The simulation environment presented here provides an effective means for evaluating the dose distribution for a moving target volume with and without motion compensation. It contributes a substantial basis for the experimental research on the irradiation of moving target volumes with scanned ion beams at GSI which will be presented in upcoming papers.

Human joint motion estimation for electromyography (EMG)-based dynamic motion control.

PubMed

Zhang, Qin; Hosoda, Ryo; Venture, Gentiane

2013-01-01

This study aims to investigate a joint motion estimation method from Electromyography (EMG) signals during dynamic movement. In most EMG-based humanoid or prosthetics control systems, EMG features were directly or indirectly used to trigger intended motions. However, both physiological and nonphysiological factors can influence EMG characteristics during dynamic movements, resulting in subject-specific, non-stationary and crosstalk problems. Particularly, when motion velocity and/or joint torque are not constrained, joint motion estimation from EMG signals are more challenging. In this paper, we propose a joint motion estimation method based on muscle activation recorded from a pair of agonist and antagonist muscles of the joint. A linear state-space model with multi input single output is proposed to map the muscle activity to joint motion. An adaptive estimation method is proposed to train the model. The estimation performance is evaluated in performing a single elbow flexion-extension movement in two subjects. All the results in two subjects at two load levels indicate the feasibility and suitability of the proposed method in joint motion estimation. The estimation root-mean-square error is within 8.3% ∼ 10.6%, which is lower than that being reported in several previous studies. Moreover, this method is able to overcome subject-specific problem and compensate non-stationary EMG properties.

Object-based attentional modulation of biological motion processing: spatiotemporal dynamics using functional magnetic resonance imaging and electroencephalography.

PubMed

Safford, Ashley S; Hussey, Elizabeth A; Parasuraman, Raja; Thompson, James C

2010-07-07

Although it is well documented that the ability to perceive biological motion is mediated by the lateral temporal cortex, whether and when neural activity in this brain region is modulated by attention is unknown. In particular, it is unclear whether the processing of biological motion requires attention or whether such stimuli are processed preattentively. Here, we used functional magnetic resonance imaging, high-density electroencephalography, and cortically constrained source estimation methods to investigate the spatiotemporal effects of attention on the processing of biological motion. Directing attention to tool motion in overlapping movies of biological motion and tool motion suppressed the blood oxygenation level-dependent (BOLD) response of the right superior temporal sulcus (STS)/middle temporal gyrus (MTG), while directing attention to biological motion suppressed the BOLD response of the left inferior temporal sulcus (ITS)/MTG. Similarly, category-based modulation of the cortical current source density estimates from the right STS/MTG and left ITS was observed beginning at approximately 450 ms following stimulus onset. Our results indicate that the cortical processing of biological motion is strongly modulated by attention. These findings argue against preattentive processing of biological motion in the presence of stimuli that compete for attention. Our findings also suggest that the attention-based segregation of motion category-specific responses only emerges relatively late (several hundred milliseconds) in processing.

Optimizing Motion Planning for Hyper Dynamic Manipulator

NASA Astrophysics Data System (ADS)

Aboura, Souhila; Omari, Abdelhafid; Meguenni, Kadda Zemalache

2012-01-01

This paper investigates the optimal motion planning for an hyper dynamic manipulator. As case study, we consider a golf swing robot which is consisting with two actuated joint and a mechanical stoppers. Genetic Algorithm (GA) technique is proposed to solve the optimal golf swing motion which is generated by Fourier series approximation. The objective function for GA approach is to minimizing the intermediate and final state, minimizing the robot's energy consummation and maximizing the robot's speed. Obtained simulation results show the effectiveness of the proposed scheme.

Estimation of contour motion and deformation for nonrigid object tracking

NASA Astrophysics Data System (ADS)

Shao, Jie; Porikli, Fatih; Chellappa, Rama

2007-08-01

We present an algorithm for nonrigid contour tracking in heavily cluttered background scenes. Based on the properties of nonrigid contour movements, a sequential framework for estimating contour motion and deformation is proposed. We solve the nonrigid contour tracking problem by decomposing it into three subproblems: motion estimation, deformation estimation, and shape regulation. First, we employ a particle filter to estimate the global motion parameters of the affine transform between successive frames. Then we generate a probabilistic deformation map to deform the contour. To improve robustness, multiple cues are used for deformation probability estimation. Finally, we use a shape prior model to constrain the deformed contour. This enables us to retrieve the occluded parts of the contours and accurately track them while allowing shape changes specific to the given object types. Our experiments show that the proposed algorithm significantly improves the tracker performance.

Proper motion of the radio pulsar B1727-47 and its association with the supernova remnant RCW 114

NASA Astrophysics Data System (ADS)

Shternin, P. S.; Yu, M.; Kirichenko, A. Yu; Shibanov, Yu A.; Danilenko, A. A.; Voronkov, M. A.; Zyuzin, D. A.

2017-12-01

We report preliminary results of the analysis of the proper motion of the bright radio pulsar B1727-47. Using archival Parkes timing data, as well as original and archival ATCA interferometry observations, we, for the first time, constrain the pulsar proper motion at the level of 148±11 mas yr-1. The backward extrapolation of the proper motion vector to the pulsar birth epoch points at the center of the Galactic supernova remnant RCW 114 suggesting the genuine association between the two objects. We discuss the implications of the association and argue that the distance to the system is less than 1 kpc. This value is at least two times lower than the dispersion measure distance estimates. This suggests that the existing Galaxy electron density models are incomplete in the direction to the pulsar.

Electric-field-stimulated protein mechanics

PubMed Central

Hekstra, Doeke R.; White, K. Ian; Socolich, Michael A.; Henning, Robert W.; Šrajer, Vukica; Ranganathan, Rama

2017-01-01

The internal mechanics of proteins—the coordinated motions of amino acids and the pattern of forces constraining these motions—connects protein structure to function. Here we describe a new method combining the application of strong electric field pulses to protein crystals with time-resolved X-ray crystallography to observe conformational changes in spatial and temporal detail. Using a human PDZ domain (LNX2PDZ2) as a model system, we show that protein crystals tolerate electric field pulses strong enough to drive concerted motions on the sub-microsecond timescale. The induced motions are subtle, involve diverse physical mechanisms, and occur throughout the protein structure. The global pattern of electric-field-induced motions is consistent with both local and allosteric conformational changes naturally induced by ligand binding, including at conserved functional sites in the PDZ domain family. This work lays the foundation for comprehensive experimental study of the mechanical basis of protein function. PMID:27926732

Analytic study of a rolling sphere on a rough surface

NASA Astrophysics Data System (ADS)

Florea, Olivia A.; Rosca, Ileana C.

2016-11-01

In this paper it is realized an analytic study of the rolling's sphere on a rough horizontal plane under the action of its own gravity. The necessities of integration of the system of dynamical equations of motion lead us to find a reference system where the motion equations should be transformed into simpler expressions and which, in the presence of some significant hypothesis to permit the application of some original methods of analytical integration. In technical applications, the bodies may have a free rolling motion or a motion constrained by geometrical relations in assemblies of parts and machine parts. This study involves a lot of investigations in the field of tribology and of applied dynamics accompanied by experiments. Multiple recordings of several trajectories of the sphere, as well as their treatment of images, also followed by statistical processing experimental data allowed highlighting a very good agreement between the theoretical findings and experimental results.

Motion coordination and programmable teleoperation between two industrial robots

NASA Technical Reports Server (NTRS)

Luh, J. Y. S.; Zheng, Y. F.

1987-01-01

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions.

The Culture That Constrains: Experience of "Nature" as Part of a Wilderness Adventure Program.

ERIC Educational Resources Information Center

Haluza-DeLay, Randolph

1999-01-01

A study examined experiences of nature among eight adolescents during a 12-day wilderness trip. The trip generated feelings of good will toward nature but no increase in environmentally responsible behaviors. Group norms emphasized social interaction and constrained attention to nature. Outdoor educators should consciously plan for transfer of…

Scanned carbon beam irradiation of moving films: comparison of measured and calculated response

PubMed Central

2012-01-01

Background Treatment of moving target volumes with scanned particle beams benefits from treatment planning that includes the time domain (4D). Part of 4D treatment planning is calculation of the expected result. These calculation codes should be verified against suitable measurements. We performed simulations and measurements to validate calculation of the film response in the presence of target motion. Methods All calculations were performed with GSI's treatment planning system TRiP. Interplay patterns between scanned particle beams and moving film detectors are very sensitive to slight deviations of the assumed motion parameters and therefore ideally suited to validate 4D calculations. In total, 14 film motion parameter combinations with lateral motion amplitudes of 8, 15, and 20 mm and 4 combinations for lateral motion including range changes were used. Experimental and calculated film responses were compared by relative difference, mean deviation in two regions-of-interest, as well as line profiles. Results Irradiations of stationary films resulted in a mean relative difference of -1.52% ± 2.06% of measured and calculated responses. In comparison to this reference result, measurements with translational film motion resulted in a mean difference of -0.92% ± 1.30%. In case of irradiations incorporating range changes with a stack of 5 films as detector the deviations increased to -6.4 ± 2.6% (-10.3 ± 9.0% if film in distal fall-off is included) in comparison to -3.6% ± 2.5% (-13.5% ± 19.9% including the distal film) for the stationary irradiation. Furthermore, the comparison of line profiles of 4D calculations and experimental data showed only slight deviations at the borders of the irradiated area. The comparisons of pure lateral motion were used to determine the number of motion states that are required for 4D calculations depending on the motion amplitude. 6 motion states per 10 mm motion amplitude are sufficient to calculate the film response in the presence of motion. Conclusions By comparison to experimental data, the 4D extension of GSI's treatment planning system TRiP has been successfully validated for film response calculations in the presence of target motion within the accuracy limitation given by film-based dosimetry. PMID:22462523

Constrained State Estimation for Individual Localization in Wireless Body Sensor Networks

PubMed Central

Feng, Xiaoxue; Snoussi, Hichem; Liang, Yan; Jiao, Lianmeng

2014-01-01

Wireless body sensor networks based on ultra-wideband radio have recently received much research attention due to its wide applications in health-care, security, sports and entertainment. Accurate localization is a fundamental problem to realize the development of effective location-aware applications above. In this paper the problem of constrained state estimation for individual localization in wireless body sensor networks is addressed. Priori knowledge about geometry among the on-body nodes as additional constraint is incorporated into the traditional filtering system. The analytical expression of state estimation with linear constraint to exploit the additional information is derived. Furthermore, for nonlinear constraint, first-order and second-order linearizations via Taylor series expansion are proposed to transform the nonlinear constraint to the linear case. Examples between the first-order and second-order nonlinear constrained filters based on interacting multiple model extended kalman filter (IMM-EKF) show that the second-order solution for higher order nonlinearity as present in this paper outperforms the first-order solution, and constrained IMM-EKF obtains superior estimation than IMM-EKF without constraint. Another brownian motion individual localization example also illustrates the effectiveness of constrained nonlinear iterative least square (NILS), which gets better filtering performance than NILS without constraint. PMID:25390408

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

Federal Register 2010, 2011, 2012, 2013, 2014

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...

TU-AB-BRB-03: Coverage-Based Treatment Planning to Accommodate Organ Deformable Motions and Contouring Uncertainties for Prostate Treatment

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xu, H.

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. Themore » 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 robust-planning as a clinical alternative to using margin-based planning. To understand conceptual differences between uncertainty and predictable motion. To understand fundamental limitations of the PTV concept that probabilistic planning can overcome. To understand the major contributing factors to target and normal tissue coverage probability. To understand the similarities and differences of various robust planning techniques To understand the benefits and limitations of robust planning techniques.« less

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Unkelbach, J.

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. Themore » 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 robust-planning as a clinical alternative to using margin-based planning. To understand conceptual differences between uncertainty and predictable motion. To understand fundamental limitations of the PTV concept that probabilistic planning can overcome. To understand the major contributing factors to target and normal tissue coverage probability. To understand the similarities and differences of various robust planning techniques To understand the benefits and limitations of robust planning techniques.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shimohigashi, Y; Araki, F; Toya, R

Purpose: The purpose of this study was to evaluate the interfractional and intrafractional motion of liver tumors in stereotactic body radiation therapy (SBRT), based on four-dimensional cone-beam computed tomography using fiducial markers. (4D-CBCT). Methods: Seven patients with liver tumors were treated by SBRT with abdominal compression (AC) in five fractions with image guidance based on 4D-CBCT. The 4D-CBCT studies were performed to determine the individualized internal margin for the planning simulation. The interfractional and intrafractional changes of liver tumor motion for all patients was measured, based on the planning simulation 4D-CBCT, pre-SBRT 4D-CBCT, and post-SBRT 4D-CBCT. The interfractional motion changemore » was calculated from the difference in liver tumor amplitude on pre-SBRT 4D-CBCT relative to that of the planning simulation 4D-CBCT for each fraction. The intrafractional motion change was calculated from the difference between the liver tumor amplitudes of the pre- and post-SBRT 4D-CBCT for each fraction. Significant interfractional and intrafractional changes in liver tumor motion were defined as a change ≥3 mm. Statistical analysis was performed using the Pearson correlation. Results: The values of the mean amplitude of liver tumor, as indicated by planning simulation 4D-CBCT, were 1.6 ± 0.8 mm, 1.6 ± 0.9 mm, and 4.9 ± 2.2 mm in the left-right (LR), anterior-posterior (AP), and superior-inferior (SI) directions, respectively. Pearson correlation coefficients between the liver tumor amplitudes, based on planning simulation 4D-CBCT, and pre-SBRT 4D-CBCT during fraction treatment in the LR, AP, and SI directions were 0.6, 0.7, and 0.8, respectively. Interfractional and intrafractional motion changes of ≥3 mm occurred in 23% and 3% of treatment fractions, respectively. Conclusion: The interfractional and intrafractional changes of liver tumor motion were small in most patients who received liver SBRT with AC. In addition, planning simulation 4D-CBCT was useful for representing liver tumor movement in patients undergoing SBRT. This work was supported by JSPS KAKENHI Grant Number 26861004.« less

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

PubMed

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 test the robustness of a patient plan against a range of possible motion patterns. The methods described represent a move from the inspection of static pre-treatment plans to a review of the dynamic treatment.

Inter-fraction variations in respiratory motion models

NASA Astrophysics Data System (ADS)

McClelland, J. R.; Hughes, S.; Modat, M.; Qureshi, A.; Ahmad, S.; Landau, D. B.; Ourselin, S.; Hawkes, D. J.

2011-01-01

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.

Human motion planning based on recursive dynamics and optimal control techniques

NASA Technical Reports Server (NTRS)

Lo, Janzen; Huang, Gang; Metaxas, Dimitris

2002-01-01

This paper presents an efficient optimal control and recursive dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A quasi-Newton nonlinear programming technique (super-linear convergence) is implemented to solve minimum torque-based human motion-planning problems. The explicit analytical gradients needed in the dynamics are derived using a matrix exponential formulation and Lie algebra. Cubic spline functions are used to make the search space for an optimal solution finite. Based on our formulations, our method is well conditioned and robust, in addition to being computationally efficient. To better illustrate the efficiency of our method, we present results of natural looking and physically correct human motions for a variety of human motion tasks involving open and closed loop kinematic chains.

Brain-machine interfacing control of whole-body humanoid motion

PubMed Central

Bouyarmane, Karim; Vaillant, Joris; Sugimoto, Norikazu; Keith, François; Furukawa, Jun-ichiro; Morimoto, Jun

2014-01-01

We propose to tackle in this paper the problem of controlling whole-body humanoid robot behavior through non-invasive brain-machine interfacing (BMI), motivated by the perspective of mapping human motor control strategies to human-like mechanical avatar. Our solution is based on the adequate reduction of the controllable dimensionality of a high-DOF humanoid motion in line with the state-of-the-art possibilities of non-invasive BMI technologies, leaving the complement subspace part of the motion to be planned and executed by an autonomous humanoid whole-body motion planning and control framework. The results are shown in full physics-based simulation of a 36-degree-of-freedom humanoid motion controlled by a user through EEG-extracted brain signals generated with motor imagery task. PMID:25140134

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yang, J; Wang, X; Zhao, Z

Purpose: Acute esophageal toxicity is a common side effect in spine stereotactic body radiotherapy (SBRT). The respiratory motion may alter esophageal position from the planning scan resulting in excessive esophageal dose. Here we assessed the dosimetric impact resulting from the esophageal motion using 4DCT. Methods: Nine patients treated to their thoracic spines in one fraction of 24 Gy were identified for this study. The original plan on a free breathing CT was copied to each phase image of a 4DCT scan, recalculated, scaled, and accumulated to the free breathing CT using deformable image registration. A segment of esophagus was contouredmore » in the vicinity of treatment target. Esophagus dose volume histogram (DVH) was generated for both the original planned dose and the accumulated 4D dose for comparison. In parallel, we performed a chained deformable registration of 4DCT phase images to estimate the motion magnitude of the esophagus in a breathing cycle. We examined the correlation between the motion magnitude and the dosimetric deviation. Results: The esophageal motion mostly exhibited in the superior-inferior direction. The cross-sectional motion was small. Esophagus motion at T1 vertebra level (0.7 mm) is much smaller than that at T11 vertebra level (6.5 mm). The difference of Dmax between the original and 4D dose distributions ranged from 9.1 cGy (esophagus motion: 5.6 mm) to 231.1 cGy (esophagus motion: 3.1 mm). The difference of D(5cc) ranged from 5 cGy (esophagus motion: 3.1 mm) to 85 cGy (esophagus motion: 3.3 mm). There was no correlation between the dosimetric deviation and the motion magnitude. The V(11.9Gy)<5cc constraint was met for each patient when examining the DVH calculated from the 4D dose. Conclusion: Respiratory motion did not result in substantial dose increase to esophagus in spine SBRT. 4DCT simulation may not be necessary with regards to esophageal dose assessment.« less

Interactive-rate Motion Planning for Concentric Tube Robots.

PubMed

Torres, Luis G; Baykal, Cenk; Alterovitz, Ron

2014-05-01

Concentric tube robots may enable new, safer minimally invasive surgical procedures by moving along curved paths to reach difficult-to-reach sites in a patient's anatomy. Operating these devices is challenging due to their complex, unintuitive kinematics and the need to avoid sensitive structures in the anatomy. In this paper, we present a motion planning method that computes collision-free motion plans for concentric tube robots at interactive rates. Our method's high speed enables a user to continuously and freely move the robot's tip while the motion planner ensures that the robot's shaft does not collide with any anatomical obstacles. Our approach uses a highly accurate mechanical model of tube interactions, which is important since small movements of the tip position may require large changes in the shape of the device's shaft. Our motion planner achieves its high speed and accuracy by combining offline precomputation of a collision-free roadmap with online position control. We demonstrate our interactive planner in a simulated neurosurgical scenario where a user guides the robot's tip through the environment while the robot automatically avoids collisions with the anatomical obstacles.

Computational Motion Phantoms and Statistical Models of Respiratory Motion

NASA Astrophysics Data System (ADS)

Ehrhardt, Jan; Klinder, Tobias; Lorenz, Cristian

Breathing motion is not a robust and 100 % reproducible process, and inter- and intra-fractional motion variations form an important problem in radiotherapy of the thorax and upper abdomen. A widespread consensus nowadays exists that it would be useful to use prior knowledge about respiratory organ motion and its variability to improve radiotherapy planning and treatment delivery. This chapter discusses two different approaches to model the variability of respiratory motion. In the first part, we review computational motion phantoms, i.e. computerized anatomical and physiological models. Computational phantoms are excellent tools to simulate and investigate the effects of organ motion in radiation therapy and to gain insight into methods for motion management. The second part of this chapter discusses statistical modeling techniques to describe the breathing motion and its variability in a population of 4D images. Population-based models can be generated from repeatedly acquired 4D images of the same patient (intra-patient models) and from 4D images of different patients (inter-patient models). The generation of those models is explained and possible applications of those models for motion prediction in radiotherapy are exemplified. Computational models of respiratory motion and motion variability have numerous applications in radiation therapy, e.g. to understand motion effects in simulation studies, to develop and evaluate treatment strategies or to introduce prior knowledge into the patient-specific treatment planning.

A novel four-dimensional radiotherapy planning strategy from a tumor-tracking beam's eye view

NASA Astrophysics Data System (ADS)

Li, Guang; Cohen, Patrice; Xie, Huchen; Low, Daniel; Li, Diana; Rimner, Andreas

2012-11-01

To investigate the feasibility of four-dimensional radiotherapy (4DRT) planning from a tumor-tracking beam's eye view (ttBEV) with reliable gross tumor volume (GTV) delineation, realistic normal tissue representation, high planning accuracy and low clinical workload, we propose and validate a novel 4D conformal planning strategy based on a synthesized 3.5D computed tomographic (3.5DCT) image with a motion-compensated tumor. To recreate patient anatomy from a ttBEV in the moving tumor coordinate system for 4DRT planning (or 4D planning), the centers of delineated GTVs in all phase CT images of 4DCT were aligned, and then the aligned CTs were averaged to produce a new 3.5DCT image. This GTV-motion-compensated CT contains a motionless target (with motion artifacts minimized) and motion-blurred normal tissues (with a realistic temporal density average). Semi-automatic threshold-based segmentation of the tumor, lung and body was applied, while manual delineation was used for other organs at risk (OARs). To validate this 3.5DCT-based 4D planning strategy, five patients with peripheral lung lesions of small size (<5 cm3) and large motion range (1.2-3.5 cm) were retrospectively studied for stereotactic body radiotherapy (SBRT) using 3D conformal radiotherapy planning tools. The 3.5DCT-based 4D plan (3.5DCT plan) with 9-10 conformal beams was compared with the 4DCT-based 4D plan (4DCT plan). The 4DCT plan was derived from multiple 3D plans based on all phase CT images, each of which used the same conformal beam configuration but with an isocenter shift to aim at the moving tumor and a minor beam aperture and weighting adjustment to maintain plan conformality. The dose-volume histogram (DVH) of the 4DCT plan was created with two methods: one is an integrated DVH (iDVH4D), which is defined as the temporal average of all 3D-phase-plan DVHs, and the other (DVH4D) is based on the dose distribution in a reference phase CT image by dose warping from all phase plans using the displacement vector field (DVF) from a free-form deformable image registration (DIR). The DVH3.5D (for the 3.5DCT plan) was compared with both iDVH4D and DVH4D. To quantify the DVH difference between the 3.5DCT plan and the 4DCT plan, two methods were used: relative difference (%) of the areas underneath the DVH curves and the volumes receiving more than 20% (V20) and 50% (V50) of prescribed dose of these 4D plans. The volume of the delineated GTV from different phase CTs varied dramatically from 24% to 112% among the five patients, whereas the GTV from 3.5DCT deviated from the averaged GTV in 4DCT by only -6%±6%. For planning tumor volume (PTV) coverage, the difference between the DVH3.5D and iDVH4D was negligible (<1% area), whereas the DVH3.5D and DVH4D were quite different, due to DIR uncertainty (˜2 mm), which propagates to PTV dose coverage with a pronounced uncertainty for small tumors (0.3-4.0 cm3) in stereotactic plans with sharp dose falloff around PTV. For OARs, such as the lung, heart, cord and esophagus, the three DVH curves (DVH3.5D, DVH4D and iDVH4D) were found to be almost identical for the same patients, especially in high-dose regions. For the tumor-containing lung, the relative difference of the areas underneath the DVH curves was found to be small (5.3% area on average), of which 65% resulted from the low-dose region (D < 20%). The averaged V20 difference between the two 4D plans was 1.2% ± 0.8%. For the mean lung dose (MLD), the 3.5DCT plan differed from the 4DCT plan by -1.1%±1.3%. GTV-motion-compensated CT (3.5DCT) produces an accurate and reliable GTV delineation, which is close to the mean GTV from 4DCT. The 3.5DCT plan is equivalent to the 4DCT plan with <1% dose difference to the PTV and negligible dose difference in OARs. The 3.5DCT approach simplifies 4D planning and provides accurate dose calculation without a substantial increase of clinical workload for motion-tracking delivery to treat small peripheral lung tumors with large motion.

Effects of the oceans on polar motion: Extended investigations

NASA Technical Reports Server (NTRS)

Dickman, Steven R.

1986-01-01

A method was found for expressing the tide current velocities in terms of the tide height (with all variables expanded in spherical harmonics). All time equations were then combined into a single, nondifferential matrix equation involving only the unknown tide height. The pole tide was constrained so that no tidewater flows across continental boundaries. The constraint was derived for the case of turbulent oceans; with the tide velocities expressed in terms of the tide height. The two matrix equations were combined. Simple matrix inversion then yielded the constrained solution. Programs to construct and invert the matrix equations were written. Preliminary results were obtained and are discussed.

Planning and executing motions for multibody systems in free-fall. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Cameron, Jonathan M.

1991-01-01

The purpose of this research is to develop an end-to-end system that can be applied to a multibody system in free-fall to analyze its possible motions, save those motions in a database, and design a controller that can execute those motions. A goal is for the process to be highly automated and involve little human intervention. Ideally, the output of the system would be data and algorithms that could be put in ROM to control the multibody system in free-fall. The research applies to more than just robots in space. It applies to any multibody system in free-fall. Mathematical techniques from nonlinear control theory were used to study the nature of the system dynamics and its possible motions. Optimization techniques were applied to plan motions. Image compression techniques were proposed to compress the precomputed motion data for storage. A linearized controller was derived to control the system while it executes preplanned trajectories.

Constraint elimination in dynamical systems

NASA Technical Reports Server (NTRS)

Singh, R. P.; Likins, P. W.

1989-01-01

Large space structures (LSSs) and other dynamical systems of current interest are often extremely complex assemblies of rigid and flexible bodies subjected to kinematical constraints. A formulation is presented for the governing equations of constrained multibody systems via the application of singular value decomposition (SVD). The resulting equations of motion are shown to be of minimum dimension.

Under-reported dosimetry errors due to interplay effects during VMAT dose delivery in extreme hypofractionated stereotactic radiotherapy.

PubMed

Gauer, Tobias; Sothmann, Thilo; Blanck, Oliver; Petersen, Cordula; Werner, René

2018-06-01

Radiotherapy of extracranial metastases changed from normofractioned 3D CRT to extreme hypofractionated stereotactic treatment using VMAT beam techniques. Random interaction between tumour motion and dynamically changing beam parameters might result in underdosage of the CTV even for an appropriately dimensioned ITV (interplay effect). This study presents a clinical scenario of extreme hypofractionated stereotactic treatment and analyses the impact of interplay effects on CTV dose coverage. For a thoracic/abdominal phantom with an integrated high-resolution detector array placed on a 4D motion platform, dual-arc treatment plans with homogenous target coverage were created using a common VMAT technique and delivered in a single fraction. CTV underdosage through interplay effects was investigated by comparing dose measurements with and without tumour motion during plan delivery. Our study agrees with previous works that pointed out insignificant interplay effects on target coverage for very regular tumour motion patterns like simple sinusoidal motion. However, we identified and illustrated scenarios that are likely to result in a clinically relevant CTV underdosage. For tumour motion with abnormal variability, target coverage quantified by the CTV area receiving more than 98% of the prescribed dose decreased to 78% compared to 100% at static dose measurement. This study is further proof of considerable influence of interplay effects on VMAT dose delivery in stereotactic radiotherapy. For selected conditions of an exemplary scenario, interplay effects and related motion-induced target underdosage primarily occurred in tumour motion pattern with increased motion variability and VMAT plan delivery using complex MLC dose modulation.

Geodetic Imaging and Tsunami Modeling of the 2017 Coupled Landslide-Tsunami Event in Karrat Fjord, West Greenland.

NASA Astrophysics Data System (ADS)

Barba, M.; Willis, M. J.; Tiampo, K. F.; Lynett, P. J.; Mätzler, E.; Thorsøe, K.; Higman, B. M.; Thompson, J. A.; Morin, P. J.

2017-12-01

We use a combination of geodetic imaging techniques and modelling efforts to examine the June 2017 Karrat Fjord, West Greenland, landslide and tsunami event. Our efforts include analysis of pre-cursor motions extracted from Sentinal SAR interferometry that we improved with high-resolution Digital Surface Models derived from commercial imagery and geo-coded Structure from Motion analyses. We produce well constrained estimates of landslide volume through DSM differencing by improving the ArcticDEM coverage of the region, and provide modeled tsunami run-up estimates at villages around the region, constrained with in-situ observations provided by the Greenlandic authorities. Estimates of run-up at unoccupied coasts are derived using a blend of high resolution imagery and elevation models. We further detail post-failure slope stability for areas of interest around the Karrat Fjord region. Warming trends in the region from model and satellite analysis are combined with optical imagery to ascertain whether the influence of melting permafrost and the formation of small springs on a slight bench on the mountainside that eventually failed can be used as indicators of future events.

On the scaling behavior of hardness with ligament diameter of nanoporous-Au: Constrained motion of dislocations along the ligaments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Viswanath, R. N.; Polaki, S. R.; Rajaraman, R.

The scaling behavior of hardness with ligament diameter and vacancy defect concentration in nanoporous Au (np-Au) has been investigated using a combination of Vickers Hardness, Scanning electron microscopy, and positron lifetime measurements. It is shown that for np-Au, the hardness scales with the ligament diameter with an exponent of −0.3, that is, at variance with the conventional Hall-Petch exponent of −0.5 for bulk systems, as seen in the controlled experiments on cold worked Au with varying grain size. The hardness of np-Au correlates with the vacancy concentration C{sub V} within the ligaments, as estimated from positron lifetime experiments, and scalesmore » as C{sub V}{sup 1/2}, pointing to the interaction of dislocations with vacancies. The distinctive Hall-Petch exponent of −0.3 seen for np-Au, with ligament diameters in the range of 5–150 nm, is rationalized by invoking the constrained motion of dislocations along the ligaments.« less

Determining the Ocean's Role on the Variable Gravity Field and Earth Rotation

NASA Technical Reports Server (NTRS)

Ponte, Rui M.; Frey, H. (Technical Monitor)

2000-01-01

A number of ocean models of different complexity have been used to study changes in the oceanic angular momentum (OAM) and mass fields and their relation to the variable Earth rotation and gravity field. Time scales examined range from seasonal to a few days. Results point to the importance of oceanic signals in driving polar motion, in particular the Chandler and annual wobbles. Results also show that oceanic signals have a measurable impact on length-of-day variations. Various circulation features and associated mass signals, including the North Pacific subtropical gyre, the equatorial currents, and the Antarctic Circumpolar Current play a significant role in oceanic angular momentum variability. The impact on OAM values of an optimization procedure that uses available data to constrain ocean model results was also tested for the first time. The optimization procedure yielded substantial changes, in OAM, related to adjustments in both motion and mass fields,as well as in the wind stress torques acting on the ocean. Constrained OAM values were found to yield noticeable improvements in the agreement with the observed Earth rotation parameters, particularly at the seasonal timescale.

Probabilistic Reasoning for Plan Robustness

NASA Technical Reports Server (NTRS)

Schaffer, Steve R.; Clement, Bradley J.; Chien, Steve A.

2005-01-01

A planning system must reason about the uncertainty of continuous variables in order to accurately project the possible system state over time. A method is devised for directly reasoning about the uncertainty in continuous activity duration and resource usage for planning problems. By representing random variables as parametric distributions, computing projected system state can be simplified in some cases. Common approximation and novel methods are compared for over-constrained and lightly constrained domains. The system compares a few common approximation methods for an iterative repair planner. Results show improvements in robustness over the conventional non-probabilistic representation by reducing the number of constraint violations witnessed by execution. The improvement is more significant for larger problems and problems with higher resource subscription levels but diminishes as the system is allowed to accept higher risk levels.

Model-based control strategies for systems with constraints of the program type

NASA Astrophysics Data System (ADS)

Jarzębowska, Elżbieta

2006-08-01

The paper presents a model-based tracking control strategy for constrained mechanical systems. Constraints we consider can be material and non-material ones referred to as program constraints. The program constraint equations represent tasks put upon system motions and they can be differential equations of orders higher than one or two, and be non-integrable. The tracking control strategy relies upon two dynamic models: a reference model, which is a dynamic model of a system with arbitrary order differential constraints and a dynamic control model. The reference model serves as a motion planner, which generates inputs to the dynamic control model. It is based upon a generalized program motion equations (GPME) method. The method enables to combine material and program constraints and merge them both into the motion equations. Lagrange's equations with multipliers are the peculiar case of the GPME, since they can be applied to systems with constraints of first orders. Our tracking strategy referred to as a model reference program motion tracking control strategy enables tracking of any program motion predefined by the program constraints. It extends the "trajectory tracking" to the "program motion tracking". We also demonstrate that our tracking strategy can be extended to a hybrid program motion/force tracking.

Motion planning: A journey of robots, molecules, digital actors, and other artifacts

DOE Office of Scientific and Technical Information (OSTI.GOV)

Latombe, J.C.

1999-11-01

During the past three decades, motion planning has emerged as a crucial and productive research area in robotics. In the mid-1980s, the most advanced planners were barely able to compute collision-free paths for objects crawling in planar workspaces. Today, planners efficiently deal with robots with many degrees of freedom in complex environments. Techniques also exist to generate quasi-optimal trajectories, coordinate multiple robots, deal with dynamic and kinematic constraints, and handle dynamic environments. This paper describes some of these achievements, presents new problems that have recently emerged, discusses applications likely to motivate future research, and finally gives expectations for the comingmore » years. It stresses the fact that nonrobotics applications (e.g., graphic animation, surgical planning, computational biology) are growing in importance and are likely to shape future motion-planning research more than robotics itself.« less

A Visual Tool for Computer Supported Learning: The Robot Motion Planning Example

ERIC Educational Resources Information Center

Elnagar, Ashraf; Lulu, Leena

2007-01-01

We introduce an effective computer aided learning visual tool (CALVT) to teach graph-based applications. We present the robot motion planning problem as an example of such applications. The proposed tool can be used to simulate and/or further to implement practical systems in different areas of computer science such as graphics, computational…

Radiotherapy beyond cancer: Target localization in real-time MRI and treatment planning for cardiac radiosurgery

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ipsen, S.; Blanck, O.; Rades, D.

2014-12-15

Purpose: Atrial fibrillation (AFib) is the most common cardiac arrhythmia that affects millions of patients world-wide. AFib is usually treated with minimally invasive, time consuming catheter ablation techniques. While recently noninvasive radiosurgery to the pulmonary vein antrum (PVA) in the left atrium has been proposed for AFib treatment, precise target location during treatment is challenging due to complex respiratory and cardiac motion. A MRI linear accelerator (MRI-Linac) could solve the problems of motion tracking and compensation using real-time image guidance. In this study, the authors quantified target motion ranges on cardiac magnetic resonance imaging (MRI) and analyzed the dosimetric benefitsmore » of margin reduction assuming real-time motion compensation was applied. Methods: For the imaging study, six human subjects underwent real-time cardiac MRI under free breathing. The target motion was analyzed retrospectively using a template matching algorithm. The planning study was conducted on a CT of an AFib patient with a centrally located esophagus undergoing catheter ablation, representing an ideal case for cardiac radiosurgery. The target definition was similar to the ablation lesions at the PVA created during catheter treatment. Safety margins of 0 mm (perfect tracking) to 8 mm (untracked respiratory motion) were added to the target, defining the planning target volume (PTV). For each margin, a 30 Gy single fraction IMRT plan was generated. Additionally, the influence of 1 and 3 T magnetic fields on the treatment beam delivery was simulated using Monte Carlo calculations to determine the dosimetric impact of MRI guidance for two different Linac positions. Results: Real-time cardiac MRI showed mean respiratory target motion of 10.2 mm (superior–inferior), 2.4 mm (anterior–posterior), and 2 mm (left–right). The planning study showed that increasing safety margins to encompass untracked respiratory motion leads to overlapping structures even in the ideal scenario, compromising either normal tissue dose constraints or PTV coverage. The magnetic field caused a slight increase in the PTV dose with the in-line MRI-Linac configuration. Conclusions: The authors’ results indicate that real-time tracking and motion compensation are mandatory for cardiac radiosurgery and MRI-guidance is feasible, opening the possibility of treating cardiac arrhythmia patients completely noninvasively.« less

Maintaining and Enhancing Diversity of Sampled Protein Conformations in Robotics-Inspired Methods.

PubMed

Abella, Jayvee R; Moll, Mark; Kavraki, Lydia E

2018-01-01

The ability to efficiently sample structurally diverse protein conformations allows one to gain a high-level view of a protein's energy landscape. Algorithms from robot motion planning have been used for conformational sampling, and several of these algorithms promote diversity by keeping track of "coverage" in conformational space based on the local sampling density. However, large proteins present special challenges. In particular, larger systems require running many concurrent instances of these algorithms, but these algorithms can quickly become memory intensive because they typically keep previously sampled conformations in memory to maintain coverage estimates. In addition, robotics-inspired algorithms depend on defining useful perturbation strategies for exploring the conformational space, which is a difficult task for large proteins because such systems are typically more constrained and exhibit complex motions. In this article, we introduce two methodologies for maintaining and enhancing diversity in robotics-inspired conformational sampling. The first method addresses algorithms based on coverage estimates and leverages the use of a low-dimensional projection to define a global coverage grid that maintains coverage across concurrent runs of sampling. The second method is an automatic definition of a perturbation strategy through readily available flexibility information derived from B-factors, secondary structure, and rigidity analysis. Our results show a significant increase in the diversity of the conformations sampled for proteins consisting of up to 500 residues when applied to a specific robotics-inspired algorithm for conformational sampling. The methodologies presented in this article may be vital components for the scalability of robotics-inspired approaches.

Task-space separation principle: a force-field approach to motion planning for redundant manipulators.

PubMed

Tommasino, Paolo; Campolo, Domenico

2017-02-03

In this work, we address human-like motor planning in redundant manipulators. Specifically, we want to capture postural synergies such as Donders' law, experimentally observed in humans during kinematically redundant tasks, and infer a minimal set of parameters to implement similar postural synergies in a kinematic model. For the model itself, although the focus of this paper is to solve redundancy by implementing postural strategies derived from experimental data, we also want to ensure that such postural control strategies do not interfere with other possible forms of motion control (in the task-space), i.e. solving the posture/movement problem. The redundancy problem is framed as a constrained optimization problem, traditionally solved via the method of Lagrange multipliers. The posture/movement problem can be tackled via the separation principle which, derived from experimental evidence, posits that the brain processes static torques (i.e. posture-dependent, such as gravitational torques) separately from dynamic torques (i.e. velocity-dependent). The separation principle has traditionally been applied at a joint torque level. Our main contribution is to apply the separation principle to Lagrange multipliers, which act as task-space force fields, leading to a task-space separation principle. In this way, we can separate postural control (implementing Donders' law) from various types of tasks-space movement planners. As an example, the proposed framework is applied to the (redundant) task of pointing with the human wrist. Nonlinear inverse optimization (NIO) is used to fit the model parameters and to capture motor strategies displayed by six human subjects during pointing tasks. The novelty of our NIO approach is that (i) the fitted motor strategy, rather than raw data, is used to filter and down-sample human behaviours; (ii) our framework is used to efficiently simulate model behaviour iteratively, until it converges towards the experimental human strategies.

Theoretical framework for analyzing structural compliance properties of proteins.

PubMed

Arikawa, Keisuke

2018-01-01

We propose methods for directly analyzing structural compliance (SC) properties of elastic network models of proteins, and we also propose methods for extracting information about motion properties from the SC properties. The analysis of SC properties involves describing the relationships between the applied forces and the deformations. When decomposing the motion according to the magnitude of SC (SC mode decomposition), we can obtain information about the motion properties under the assumption that the lower SC mode motions or the softer motions occur easily. For practical applications, the methods are formulated in a general form. The parts where forces are applied and those where deformations are evaluated are separated from each other for enabling the analyses of allosteric interactions between the specified parts. The parts are specified not only by the points but also by the groups of points (the groups are treated as flexible bodies). In addition, we propose methods for quantitatively evaluating the properties based on the screw theory and the considerations of the algebraic structures of the basic equations expressing the SC properties. These methods enable quantitative discussions about the relationships between the SC mode motions and the motions estimated from two different conformations; they also help identify the key parts that play important roles for the motions by comparing the SC properties with those of partially constrained models. As application examples, lactoferrin and ATCase are analyzed. The results show that we can understand their motion properties through their lower SC mode motions or the softer motions.

Theoretical framework for analyzing structural compliance properties of proteins

PubMed Central

2018-01-01

We propose methods for directly analyzing structural compliance (SC) properties of elastic network models of proteins, and we also propose methods for extracting information about motion properties from the SC properties. The analysis of SC properties involves describing the relationships between the applied forces and the deformations. When decomposing the motion according to the magnitude of SC (SC mode decomposition), we can obtain information about the motion properties under the assumption that the lower SC mode motions or the softer motions occur easily. For practical applications, the methods are formulated in a general form. The parts where forces are applied and those where deformations are evaluated are separated from each other for enabling the analyses of allosteric interactions between the specified parts. The parts are specified not only by the points but also by the groups of points (the groups are treated as flexible bodies). In addition, we propose methods for quantitatively evaluating the properties based on the screw theory and the considerations of the algebraic structures of the basic equations expressing the SC properties. These methods enable quantitative discussions about the relationships between the SC mode motions and the motions estimated from two different conformations; they also help identify the key parts that play important roles for the motions by comparing the SC properties with those of partially constrained models. As application examples, lactoferrin and ATCase are analyzed. The results show that we can understand their motion properties through their lower SC mode motions or the softer motions. PMID:29607281

Apparent motion perception in lower limb amputees with phantom sensations: "obstacle shunning" and "obstacle tolerance".

PubMed

Saetta, Gianluca; Grond, Ilva; Brugger, Peter; Lenggenhager, Bigna; Tsay, Anthony J; Giummarra, Melita J

2018-03-21

Phantom limbs are the phenomenal persistence of postural and sensorimotor features of an amputated limb. Although immaterial, their characteristics can be modulated by the presence of physical matter. For instance, the phantom may disappear when its phenomenal space is invaded by objects ("obstacle shunning"). Alternatively, "obstacle tolerance" occurs when the phantom is not limited by the law of impenetrability and co-exists with physical objects. Here we examined the link between this under-investigated aspect of phantom limbs and apparent motion perception. The illusion of apparent motion of human limbs involves the perception that a limb moves through or around an object, depending on the stimulus onset asynchrony (SOA) for the two images. Participants included 12 unilateral lower limb amputees matched for obstacle shunning (n = 6) and obstacle tolerance (n = 6) experiences, and 14 non-amputees. Using multilevel linear models, we replicated robust biases for short perceived trajectories for short SOA (moving through the object), and long trajectories (circumventing the object) for long SOAs in both groups. Importantly, however, amputees with obstacle shunning perceived leg stimuli to predominantly move through the object, whereas amputees with obstacle tolerance perceived leg stimuli to predominantly move around the object. That is, in people who experience obstacle shunning, apparent motion perception of lower limbs was not constrained to the laws of impenetrability (as the phantom disappears when invaded by objects), and legs can therefore move through physical objects. Amputees who experience obstacle tolerance, however, had stronger solidity constraints for lower limb apparent motion, perhaps because they must avoid co-location of the phantom with physical objects. Phantom limb experience does, therefore, appear to be modulated by intuitive physics, but not in the same way for everyone. This may have important implications for limb experience post-amputation (e.g., improving prosthesis embodiment when limb representation is constrained by the same limits as an intact limb). Copyright © 2018 Elsevier Ltd. All rights reserved.

Treatment planning with intensity modulated particle therapy for multiple targets in stage IV non-small cell lung cancer

NASA Astrophysics Data System (ADS)

Anderle, Kristjan; Stroom, Joep; Vieira, Sandra; Pimentel, Nuno; Greco, Carlo; Durante, Marco; Graeff, Christian

2018-01-01

Intensity modulated particle therapy (IMPT) can produce highly conformal plans, but is limited in advanced lung cancer patients with multiple lesions due to motion and planning complexity. A 4D IMPT optimization including all motion states was expanded to include multiple targets, where each target (isocenter) is designated to specific field(s). Furthermore, to achieve stereotactic treatment planning objectives, target and OAR weights plus objective doses were automatically iteratively adapted. Finally, 4D doses were calculated for different motion scenarios. The results from our algorithm were compared to clinical stereotactic body radiation treatment (SBRT) plans. The study included eight patients with 24 lesions in total. Intended dose regimen for SBRT was 24 Gy in one fraction, but lower fractionated doses had to be delivered in three cases due to OAR constraints or failed plan quality assurance. The resulting IMPT treatment plans had no significant difference in target coverage compared to SBRT treatment plans. Average maximum point dose and dose to specific volume in OARs were on average 65% and 22% smaller with IMPT. IMPT could also deliver 24 Gy in one fraction in a patient where SBRT was limited due to the OAR vicinity. The developed algorithm shows the potential of IMPT in treatment of multiple moving targets in a complex geometry.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Henderson, C. B.; Gould, A.; Gaudi, B. S.

The mass of the lenses giving rise to Galactic microlensing events can be constrained by measuring the relative lens-source proper motion and lens flux. The flux of the lens can be separated from that of the source, companions to the source, and unrelated nearby stars with high-resolution images taken when the lens and source are spatially resolved. For typical ground-based adaptive optics (AO) or space-based observations, this requires either inordinately long time baselines or high relative proper motions. We provide a list of microlensing events toward the Galactic bulge with high relative lens-source proper motion that are therefore good candidatesmore » for constraining the lens mass with future high-resolution imaging. We investigate all events from 2004 to 2013 that display detectable finite-source effects, a feature that allows us to measure the proper motion. In total, we present 20 events with μ ≳ 8 mas yr{sup –1}. Of these, 14 were culled from previous analyses while 6 are new, including OGLE-2004-BLG-368, MOA-2005-BLG-36, OGLE-2012-BLG-0211, OGLE-2012-BLG-0456, MOA-2012-BLG-532, and MOA-2013-BLG-029. In ≲12 yr from the time of each event the lens and source of each event will be sufficiently separated for ground-based telescopes with AO systems or space telescopes to resolve each component and further characterize the lens system. Furthermore, for the most recent events, comparison of the lens flux estimates from images taken immediately to those estimated from images taken when the lens and source are resolved can be used to empirically check the robustness of the single-epoch method currently being used to estimate lens masses for many events.« less

Kinematics of a selectively constrained radiolucent anterior lumbar disc: comparisons to hybrid and circumferential fusion.

PubMed

Daftari, Tapan K; Chinthakunta, Suresh R; Ingalhalikar, Aditya; Gudipally, Manasa; Hussain, Mir; Khalil, Saif

2012-10-01

Despite encouraging clinical outcomes of one-level total disc replacements reported in literature, there is no compelling evidence regarding the stability following two-level disc replacement and hybrid constructs. The current study is aimed at evaluating the multidirectional kinematics of a two-level disc arthroplasty and hybrid construct with disc replacement adjacent to rigid circumferential fusion, compared to two-level fusion using a novel selectively constrained radiolucent anterior lumbar disc. Nine osteoligamentous lumbosacral spines (L1-S1) were tested in the following sequence: 1) Intact; 2) One-level disc replacement; 3) Hybrid; 4) Two-level disc replacement; and 5) Two-level fusion. Range of motion (at both implanted and adjacent level), and center of rotation in sagittal plane were recorded and calculated. At the level of implantation, motion was restored when one-level disc replacement was used but tended to decrease with two-level disc arthroplasty. The findings also revealed that both one-level and two-level disc replacement and hybrid constructs did not significantly change adjacent level kinematics compared to the intact condition, whereas the two-level fusion construct demonstrated a significant increase in flexibility at the adjacent level. The location of center of rotation in the sagittal plane at L4-L5 for the one-level disc replacement construct was similar to that of the intact condition. The one-level disc arthroplasty tended to mimic a motion profile similar to the intact spine. However, the two-level disc replacement construct tended to reduce motion and clinical stability of a two-level disc arthroplasty requires additional investigation. Hybrid constructs may be used as a surgical alternative for treating two-level lumbar degenerative disc disease. Published by Elsevier Ltd.

Seismic anisotropy beneath South China Sea: using SKS splitting to constrain mantle flow

NASA Astrophysics Data System (ADS)

Xue, M.; Le, K.; Yang, T.

2011-12-01

The evolution of South China Sea is under debate and several hypotheses have been proposed: (1) The collision of India plate and Eurasia plate; (2) the backward movement of the Pacific subduction plate; (3) mantle upwelling; and (4) combinations of above hypotheses. All these causal mechanisms emphasize the contributions of deep structures to the evolution of South China Sea. In this study we use earthquake data recorded by seismic stations surrounding South China Sea to constrain mantle flow beneath. To fill the vacancy of seismic data in Viet Nam, we deployed 4 seismic stations (VT01-VT04) in a roughly north - south orientation in Viet Nam in Nov. 2009. We combine the VT dataset with the AD and MY datasets from IRIS and select 81 events for SKS splitting analysis. Measurements were made at 11 stations using Wolfe and Silver (1998)'s multi-event stacking procedure. Our observed splitting directions in Vietnam are generally consistent with those of Bai et. al. (2009) . In northern Vietnam, the splitting times are around 1 sec and the fast directions are NWW-SEE, parallel to the absolute plate motion as well as the motion of the Earth surface, implying the crust and the mantle are coupled in this region and is moving as a result of the collision of India and China. While in southern Vietnam and Malaya, the fast directions are NE-SW, almost perpendicular to the absolute plate motion as well as the surface motion of Eurasia plate. However, the observed NE-SW is parallel to the subduction direction of the Australian plate, which might be caused by the mantle flow along NE-SW induced by the subduction.

A 4D-optimization concept for scanned ion beam therapy.

PubMed

Graeff, Christian; Lüchtenborg, Robert; Eley, John Gordon; Durante, Marco; Bert, Christoph

2013-12-01

Scanned carbon beam therapy offers advantageous dose distributions and an increased biological effect. Treating moving targets is complex due to sensitivity to range changes and interplay. We propose a 4D treatment planning concept that considers motion during particle number optimization. The target was subdivided into sectors, one for each motion phase of a 4D-CT. Each sector was non-rigidly transformed to its motion phase and there targeted by a dedicated raster field (RST). Therefore, the resulting 4D-RST compensated target motion and range changes. A 4D treatment control system (TCS) was needed for synchronized delivery to the measured patient motion. 4D-optimized plans were simulated for 9 NSCLC lung cancer patients and compared to static irradiation at end-exhale. A prototype TCS was implemented and successfully tested in a film experiment. The 4D-optimized treatment plan resulted in only slightly lower dose coverage of the target compared to static optimization, with V 95% of 97.9% (median, range 96.5-99.4%) vs. 99.3% (98.5-99.8%), with negligible overdose. The conformity number was comparable at 88.2% (85.1-92.5%) vs. 85.2% (79.9-91.2%) for 4D and static, respectively. We implemented and tested a 4D treatment plan optimization method resulting in highly conformal dose delivery. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach

PubMed Central

Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

2015-01-01

Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks. PMID:26729123

Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach.

PubMed

Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

2015-12-30

Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks.

Planning and Control for Microassembly of Structures Composed of Stress-Engineered MEMS Microrobots

PubMed Central

Donald, Bruce R.; Levey, Christopher G.; Paprotny, Igor; Rus, Daniela

2013-01-01

We present control strategies that implement planar microassembly using groups of stress-engineered MEMS microrobots (MicroStressBots) controlled through a single global control signal. The global control signal couples the motion of the devices, causing the system to be highly underactuated. In order for the robots to assemble into arbitrary planar shapes despite the high degree of underactuation, it is desirable that each robot be independently maneuverable (independently controllable). To achieve independent control, we fabricated robots that behave (move) differently from one another in response to the same global control signal. We harnessed this differentiation to develop assembly control strategies, where the assembly goal is a desired geometric shape that can be obtained by connecting the chassis of individual robots. We derived and experimentally tested assembly plans that command some of the robots to make progress toward the goal, while other robots are constrained to remain in small circular trajectories (closed-loop orbits) until it is their turn to move into the goal shape. Our control strategies were tested on systems of fabricated MicroStressBots. The robots are 240–280 μm × 60 μm × 7–20 μm in size and move simultaneously within a single operating environment. We demonstrated the feasibility of our control scheme by accurately assembling five different types of planar microstructures. PMID:23580796

Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

PubMed Central

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.

PubMed

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.

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

ERIC Educational Resources Information Center

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…

4D dose simulation in volumetric arc therapy: Accuracy and affecting parameters.

PubMed

Sothmann, Thilo; Gauer, Tobias; Werner, René

2017-01-01

Radiotherapy of lung and liver lesions has changed from normofractioned 3D-CRT to stereotactic treatment in a single or few fractions, often employing volumetric arc therapy (VMAT)-based techniques. Potential unintended interference of respiratory target motion and dynamically changing beam parameters during VMAT dose delivery motivates establishing 4D quality assurance (4D QA) procedures to assess appropriateness of generated VMAT treatment plans when taking into account patient-specific motion characteristics. Current approaches are motion phantom-based 4D QA and image-based 4D VMAT dose simulation. Whereas phantom-based 4D QA is usually restricted to a small number of measurements, the computational approaches allow simulating many motion scenarios. However, 4D VMAT dose simulation depends on various input parameters, influencing estimated doses along with mitigating simulation reliability. Thus, aiming at routine use of simulation-based 4D VMAT QA, the impact of such parameters as well as the overall accuracy of the 4D VMAT dose simulation has to be studied in detail-which is the topic of the present work. In detail, we introduce the principles of 4D VMAT dose simulation, identify influencing parameters and assess their impact on 4D dose simulation accuracy by comparison of simulated motion-affected dose distributions to corresponding dosimetric motion phantom measurements. Exploiting an ITV-based treatment planning approach, VMAT treatment plans were generated for a motion phantom and different motion scenarios (sinusoidal motion of different period/direction; regular/irregular motion). 4D VMAT dose simulation results and dose measurements were compared by local 3% / 3 mm γ-evaluation, with the measured dose distributions serving as ground truth. Overall γ-passing rates of simulations and dynamic measurements ranged from 97% to 100% (mean across all motion scenarios: 98% ± 1%); corresponding values for comparison of different day repeat measurements were between 98% and 100%. Parameters of major influence on 4D VMAT dose simulation accuracy were the degree of temporal discretization of the dose delivery process (the higher, the better) and correct alignment of the assumed breathing phases at the beginning of the dose measurements and simulations. Given the high γ-passing rates between simulated motion-affected doses and dynamic measurements, we consider the simulations to provide a reliable basis for assessment of VMAT motion effects that-in the sense of 4D QA of VMAT treatment plans-allows to verify target coverage in hypofractioned VMAT-based radiotherapy of moving targets. Remaining differences between measurements and simulations motivate, however, further detailed studies.

Planning 4-Dimensional Computed Tomography (4DCT) Cannot Adequately Represent Daily Intrafractional Motion of Abdominal Tumors

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ge, Jiajia; Santanam, Lakshmi; Noel, Camille

2013-03-15

Purpose: To evaluate whether planning 4-dimensional computed tomography (4DCT) can adequately represent daily motion of abdominal tumors in regularly fractionated and stereotactic body radiation therapy (SBRT) patients. Methods and Materials: Intrafractional tumor motion of 10 patients with abdominal tumors (4 pancreas-fractionated and 6 liver-stereotactic patients) with implanted fiducials was measured based on daily orthogonal fluoroscopic movies over 38 treatment fractions. The needed internal margin for at least 90% of tumor coverage was calculated based on a 95th and fifth percentile of daily 3-dimensional tumor motion. The planning internal margin was generated by fusing 4DCT motion from all phase bins. The disagreementmore » between needed and planning internal margin was analyzed fraction by fraction in 3 motion axes (superior-inferior [SI], anterior-posterior [AP], and left-right [LR]). The 4DCT margin was considered as an overestimation/underestimation of daily motion when disagreement exceeded at least 3 mm in the SI axis and/or 1.2 mm in the AP and LR axes (4DCT image resolution). The underlying reasons for this disagreement were evaluated based on interfractional and intrafractional breathing variation. Results: The 4DCT overestimated daily 3-dimensional motion in 39% of the fractions in 7 of 10 patients and underestimated it in 53% of the fractions in 8 of 10 patients. Median underestimation was 3.9 mm, 3.0 mm, and 1.7 mm in the SI axis, AP axis, and LR axis, respectively. The 4DCT was found to capture irregular deep breaths in 3 of 10 patients, with 4DCT motion larger than mean daily amplitude by 18 to 21 mm. The breathing pattern varied from breath to breath and day to day. The intrafractional variation of amplitude was significantly larger than intrafractional variation (2.7 mm vs 1.3 mm) in the primary motion axis (ie, SI axis). The SBRT patients showed significantly larger intrafractional amplitude variation than fractionated patients (3.0 mm vs 2.1 mm, P<.05). Conclusions: It may not be appropriate to use 4DCT without monitoring of patient motion on a regular basis for patients with abdominal tumors, especially SBRT patients.« less

A real-time dynamic-MLC control algorithm for delivering IMRT to targets undergoing 2D rigid motion in the beam's eye view.

PubMed

McMahon, Ryan; Berbeco, Ross; Nishioka, Seiko; Ishikawa, Masayori; Papiez, Lech

2008-09-01

An MLC control algorithm for delivering intensity modulated radiation therapy (IMRT) to targets that are undergoing two-dimensional (2D) rigid motion in the beam's eye view (BEV) is presented. The goal of this method is to deliver 3D-derived fluence maps over a moving patient anatomy. Target motion measured prior to delivery is first used to design a set of planned dynamic-MLC (DMLC) sliding-window leaf trajectories. During actual delivery, the algorithm relies on real-time feedback to compensate for target motion that does not agree with the motion measured during planning. The methodology is based on an existing one-dimensional (ID) algorithm that uses on-the-fly intensity calculations to appropriately adjust the DMLC leaf trajectories in real-time during exposure delivery [McMahon et al., Med. Phys. 34, 3211-3223 (2007)]. To extend the 1D algorithm's application to 2D target motion, a real-time leaf-pair shifting mechanism has been developed. Target motion that is orthogonal to leaf travel is tracked by appropriately shifting the positions of all MLC leaves. The performance of the tracking algorithm was tested for a single beam of a fractionated IMRT treatment, using a clinically derived intensity profile and a 2D target trajectory based on measured patient data. Comparisons were made between 2D tracking, 1D tracking, and no tracking. The impact of the tracking lag time and the frequency of real-time imaging were investigated. A study of the dependence of the algorithm's performance on the level of agreement between the motion measured during planning and delivery was also included. Results demonstrated that tracking both components of the 2D motion (i.e., parallel and orthogonal to leaf travel) results in delivered fluence profiles that are superior to those that track the component of motion that is parallel to leaf travel alone. Tracking lag time effects may lead to relatively large intensity delivery errors compared to the other sources of error investigated. However, the algorithm presented is robust in the sense that it does not rely on a high level of agreement between the target motion measured during treatment planning and delivery.

Multi-target Detection, Tracking, and Data Association on Road Networks Using Unmanned Aerial Vehicles

NASA Astrophysics Data System (ADS)

Barkley, Brett E.

A cooperative detection and tracking algorithm for multiple targets constrained to a road network is presented for fixed-wing Unmanned Air Vehicles (UAVs) with a finite field of view. Road networks of interest are formed into graphs with nodes that indicate the target likelihood ratio (before detection) and position probability (after detection). A Bayesian likelihood ratio tracker recursively assimilates target observations until the cumulative observations at a particular location pass a detection criterion. At this point, a target is considered detected and a position probability is generated for the target on the graph. Data association is subsequently used to route future measurements to update the likelihood ratio tracker (for undetected target) or to update a position probability (a previously detected target). Three strategies for motion planning of UAVs are proposed to balance searching for new targets with tracking known targets for a variety of scenarios. Performance was tested in Monte Carlo simulations for a variety of mission parameters, including tracking on road networks with varying complexity and using UAVs at various altitudes.

WE-E-304-00: Implementing SBRT Protocols

DOE Office of Scientific and Technical Information (OSTI.GOV)

NONE

2015-06-15

SBRT is having a dramatic impact on radiation therapy of early-stage, locally advanced cancers. A number of national protocols have been and are being developed to assess the clinical efficacy of SBRT for various anatomical sites, such as lung and spine. Physics credentialing for participating and implementation of trial protocols involve a broad spectrum of requirements from image guidance, motion management, to planning technology and dosimetric constrains. For radiation facilities that do not have extensive experiences in SBRT treatment and protocol credentialing, these complex processes of credentialing and implementation could be very challenging and, sometimes, may lead to ineffective evenmore » unsuccessful execution of these processes. In this proposal, we will provide comprehensive review of some current SBRT protocols, explain the requirements and their underline rationales, illustrate representative failed and successful experiences, related to SBRT credentialing, and discuss strategies for effective SBRT credentialing and implementation. Learning Objectives: Understand requirements and challenges of SBRT credentailing and implentation Discuss processes and strategies of effective SBRT credentailing Discuss practical considerations, potential pitfalls and solutions of SBRT implentation.« less

WE-E-304-02: Implementing SBRT Protocols: A NRG CIRO Perspective

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xiao, Y.

2015-06-15

SBRT is having a dramatic impact on radiation therapy of early-stage, locally advanced cancers. A number of national protocols have been and are being developed to assess the clinical efficacy of SBRT for various anatomical sites, such as lung and spine. Physics credentialing for participating and implementation of trial protocols involve a broad spectrum of requirements from image guidance, motion management, to planning technology and dosimetric constrains. For radiation facilities that do not have extensive experiences in SBRT treatment and protocol credentialing, these complex processes of credentialing and implementation could be very challenging and, sometimes, may lead to ineffective evenmore » unsuccessful execution of these processes. In this proposal, we will provide comprehensive review of some current SBRT protocols, explain the requirements and their underline rationales, illustrate representative failed and successful experiences, related to SBRT credentialing, and discuss strategies for effective SBRT credentialing and implementation. Learning Objectives: Understand requirements and challenges of SBRT credentailing and implentation Discuss processes and strategies of effective SBRT credentailing Discuss practical considerations, potential pitfalls and solutions of SBRT implentation.« less

WE-E-304-01: SBRT Credentialing: Understanding the Process From Inquiry to Approval

DOE Office of Scientific and Technical Information (OSTI.GOV)

Followill, D.

SBRT is having a dramatic impact on radiation therapy of early-stage, locally advanced cancers. A number of national protocols have been and are being developed to assess the clinical efficacy of SBRT for various anatomical sites, such as lung and spine. Physics credentialing for participating and implementation of trial protocols involve a broad spectrum of requirements from image guidance, motion management, to planning technology and dosimetric constrains. For radiation facilities that do not have extensive experiences in SBRT treatment and protocol credentialing, these complex processes of credentialing and implementation could be very challenging and, sometimes, may lead to ineffective evenmore » unsuccessful execution of these processes. In this proposal, we will provide comprehensive review of some current SBRT protocols, explain the requirements and their underline rationales, illustrate representative failed and successful experiences, related to SBRT credentialing, and discuss strategies for effective SBRT credentialing and implementation. Learning Objectives: Understand requirements and challenges of SBRT credentailing and implentation Discuss processes and strategies of effective SBRT credentailing Discuss practical considerations, potential pitfalls and solutions of SBRT implentation.« less

A chance-constrained programming model to allocate wildfire initial attack resources for a fire season

Treesearch

Yu Wei; Michael Bevers; Erin Belval; Benjamin Bird

2015-01-01

This research developed a chance-constrained two-stage stochastic programming model to support wildfire initial attack resource acquisition and location on a planning unit for a fire season. Fire growth constraints account for the interaction between fire perimeter growth and construction to prevent overestimation of resource requirements. We used this model to examine...

Large-scale motions in the universe: Using clusters of galaxies as tracers

NASA Technical Reports Server (NTRS)

Gramann, Mirt; Bahcall, Neta A.; Cen, Renyue; Gott, J. Richard

1995-01-01

Can clusters of galaxies be used to trace the large-scale peculiar velocity field of the universe? We answer this question by using large-scale cosmological simulations to compare the motions of rich clusters of galaxies with the motion of the underlying matter distribution. Three models are investigated: Omega = 1 and Omega = 0.3 cold dark matter (CDM), and Omega = 0.3 primeval baryonic isocurvature (PBI) models, all normalized to the Cosmic Background Explorer (COBE) background fluctuations. We compare the cluster and mass distribution of peculiar velocities, bulk motions, velocity dispersions, and Mach numbers as a function of scale for R greater than or = 50/h Mpc. We also present the large-scale velocity and potential maps of clusters and of the matter. We find that clusters of galaxies trace well the large-scale velocity field and can serve as an efficient tool to constrain cosmological models. The recently reported bulk motion of clusters 689 +/- 178 km/s on approximately 150/h Mpc scale (Lauer & Postman 1994) is larger than expected in any of the models studied (less than or = 190 +/- 78 km/s).

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove.

PubMed

Ben-Tzvi, Pinhas; Ma, Zhou

2015-11-01

This paper presents the design, implementation and experimental validation of a novel robotic haptic exoskeleton device to measure the user's hand motion and assist hand motion while remaining portable and lightweight. The device consists of a five-finger mechanism actuated with miniature DC motors through antagonistically routed cables at each finger, which act as both active and passive force actuators. The SAFE Glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. The glove is adaptable to a wide variety of finger sizes without constraining the range of motion. This makes it possible to accurately and comfortably track the complex motion of the finger and thumb joints associated with common movements of hand functions, including grip and release patterns. The glove can be wirelessly linked to a computer for displaying and recording the hand status through 3D Graphical User Interface (GUI) in real-time. The experimental results demonstrate that the SAFE Glove is capable of reliably modeling hand kinematics, measuring finger motion and assisting hand grasping motion. Simulation and experimental results show the potential of the proposed system in rehabilitation therapy and virtual reality applications.

Hip and upper extremity kinematics in youth baseball pitchers.

PubMed

Holt, Taylor; Oliver, Gretchen D

2016-01-01

The purpose of this study was to examine the relationship between dynamic hip rotational range of motion and upper extremity kinematics during baseball pitching. Thirty-one youth baseball pitchers (10.87 ± 0.92 years; 150.03 ± 5.48 cm; 44.83 ± 8.04 kg) participated. A strong correlation was found between stance hip rotation and scapular upward rotation at maximum shoulder external rotation (r = 0.531, P = 0.002) and at ball release (r = 0.536, P = 0.002). No statistically significant correlations were found between dynamic hip rotational range of motion and passive hip range of motion. Hip range of motion deficits can constrain pelvis rotation and limit energy generation in the lower extremities. Shoulder pathomechanics can then develop as greater responsibility is placed on the shoulder to generate the energy lost from the proximal segments, increasing risk of upper extremity injury. Additionally, it appears that passive seated measurements of hip range of motion may not accurately reflect the dynamic range of motion of the hips through the progression of the pitch cycle.

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

PubMed

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.

Galilean invariance and vertex renormalization in turbulence theory.

PubMed

McComb, W D

2005-03-01

The Navier-Stokes equation is invariant under Galilean transformation of the instantaneous velocity field. However, the total velocity transformation is effected by transformation of the mean velocity alone. For a constant mean velocity, the equation of motion for the fluctuating velocity is automatically Galilean invariant in the comoving frame, and vertex renormalization is not constrained by this symmetry.

Persistent Target Tracking Using Likelihood Fusion in Wide-Area and Full Motion Video Sequences

DTIC Science & Technology

2012-07-01

624–637, 2010. [33] R. Pelapur, K. Palaniappan, F. Bunyak, and G. Seetharaman, “Vehicle orientation estimation using radon transform-based voting in...pp. 873–880. [37] F. Bunyak, K. Palaniappan, S. K. Nath, and G. Seetharaman, “Flux tensor constrained geodesic active contours with sensor fusion for

Image-Aided Navigation Using Cooperative Binocular Stereopsis

DTIC Science & Technology

2014-03-27

Global Postioning System . . . . . . . . . . . . . . . . . . . . . . . . . 1 IMU Inertial Measurement Unit...an intertial measurement unit ( IMU ). This technique capitalizes on an IMU’s ability to capture quick motion and the ability of GPS to constrain long...the sensor-aided IMU framework. Visual sensors provide a number of benefits, such as low cost and weight. These sensors are also able to measure

TU-D-202-03: Gating Is the Best ITV Killer

DOE Office of Scientific and Technical Information (OSTI.GOV)

Low, D.

Respiratory motion has long been recognized as an important factor affecting the precision of radiotherapy. After the introduction of the 4D CT to visualize the respiratory motion in 3D, the internal target volume (ITV) has been widely adopted as simple method to take the motion into account in treatment planning and delivery. The ITV is generated as the union of the CTVs as the patient goes through the respiratory cycle. Many issues have been identified with the ITV. In this session three alternatives for the ITV will be discussed: 1) An alternative motion-inclusive approach with better imaging and smaller margins,more » called mid-position CT. 2) The tracking approach and 3) The gating approach. The following topics will be addressed by Marcel van Herk (“Is ITV the correct motion encompassing strategy”): Magnitude of respiratory motion, effect of motion on radiotherapy, motion encompassing strategies, and software solutions to assist in motion encompassing strategies. Then Paul Keall (“Make margins simple: Use real-time target tracking”) will discuss tracking with: clinical drivers for tracking, current clinical status of tumor tracking, future tumor tracking technology, and margin margin challenges with and without tracking. Finally Daniel Low will discuss gating (“Gating is the best ITV killer”): why ITV in the first place, requirements for planning, requirements at the machine, benefits and costs. The session will end with a discussion and live demo of motion simulation software to illustrate the issues and explain the relative benefit and appropriate uses for the three methods. Learning Objectives: Explain the 4D imaging and treatment planning process. Summarize the various approaches to deal with respiratory motion during radiotherapy Discuss the tradeoffs involved when choosing one of the three discussed approaches. Explain in which situation each method is the best choice Research is partly funded by Elekta Oncology Systems and the Dutch Cancer Foundation; M. van Herk, Part of the research was funded by Elekta Oncology Systems and the Dutch Cancer Foundation.« less

Interactive-rate Motion Planning for Concentric Tube Robots

PubMed Central

Torres, Luis G.; Baykal, Cenk; Alterovitz, Ron

2014-01-01

Concentric tube robots may enable new, safer minimally invasive surgical procedures by moving along curved paths to reach difficult-to-reach sites in a patient’s anatomy. Operating these devices is challenging due to their complex, unintuitive kinematics and the need to avoid sensitive structures in the anatomy. In this paper, we present a motion planning method that computes collision-free motion plans for concentric tube robots at interactive rates. Our method’s high speed enables a user to continuously and freely move the robot’s tip while the motion planner ensures that the robot’s shaft does not collide with any anatomical obstacles. Our approach uses a highly accurate mechanical model of tube interactions, which is important since small movements of the tip position may require large changes in the shape of the device’s shaft. Our motion planner achieves its high speed and accuracy by combining offline precomputation of a collision-free roadmap with online position control. We demonstrate our interactive planner in a simulated neurosurgical scenario where a user guides the robot’s tip through the environment while the robot automatically avoids collisions with the anatomical obstacles. PMID:25436176

Multilayer Joint Gait-Pose Manifolds for Human Gait Motion Modeling.

PubMed

Ding, Meng; Fan, Guolian

2015-11-01

We present new multilayer joint gait-pose manifolds (multilayer JGPMs) for complex human gait motion modeling, where three latent variables are defined jointly in a low-dimensional manifold to represent a variety of body configurations. Specifically, the pose variable (along the pose manifold) denotes a specific stage in a walking cycle; the gait variable (along the gait manifold) represents different walking styles; and the linear scale variable characterizes the maximum stride in a walking cycle. We discuss two kinds of topological priors for coupling the pose and gait manifolds, i.e., cylindrical and toroidal, to examine their effectiveness and suitability for motion modeling. We resort to a topologically-constrained Gaussian process (GP) latent variable model to learn the multilayer JGPMs where two new techniques are introduced to facilitate model learning under limited training data. First is training data diversification that creates a set of simulated motion data with different strides. Second is the topology-aware local learning to speed up model learning by taking advantage of the local topological structure. The experimental results on the Carnegie Mellon University motion capture data demonstrate the advantages of our proposed multilayer models over several existing GP-based motion models in terms of the overall performance of human gait motion modeling.

Robust Notion Vision For A Vehicle Moving On A Plane

NASA Astrophysics Data System (ADS)

Moni, Shankar; Weldon, E. J.

1987-05-01

A vehicle equipped with a cemputer vision system moves on a plane. We show that subject to certain constraints, the system can determine the motion of the vehicle (one rotational and two translational degrees of freedom) and the depth of the scene in front of the vehicle. The constraints include limits on the speed of the vehicle, presence of texture on the plane and absence of pitch and roll in the vehicular motion. It is possible to decouple the problems of finding the vehicle's motion and the depth of the scene in front of the vehicle by using two rigidly connected cameras. One views a field with known depth (i.e. the ground plane) and estimates the motion parameters and the other determines the depth map knowing the motion parameters. The motion is constrained to be planar to increase robustness. We use a least squares method of fitting the vehicle motion to observer brightness gradients. With this method, no correspondence between image points needs to be established and information fran the entire image is used in calculating notion. The algorithm performs very reliably on real image sequences and these results have been included. The results compare favourably to the performance of the algorithm of Negandaripour and Horn [2] where six degrees of freedom are assumed.

Path planning and energy management of solar-powered unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Kaplan, Adam

Many of the applications pertinent to unmanned vehicles, such as environmental research and analysis, communications, and information-surveillance and reconnaissance, benefit from prolonged vehicle operation time. Conventional efforts to increase the operational time of electric-powered unmanned vehicles have traditionally focused on the design of energy-efficient components and the identification of energy efficient search patterns, while little attention has been paid to the vehicle's mission-level path plan and power management. This thesis explores the formulation and generation of integrated motion-plans and power-schedules for solar-panel equipped mobile robots operating under strict energy constraints, which cannot be effectively addressed through conventional motion planning algorithms. Transit problems are considered to design time-optimal paths using both Balkcom-Mason and Pseudo-Dubins curves. Additionally, a more complicated problem to generate mission plans for vehicles which must persistently travel between certain locations, similar to the traveling salesperson problem (TSP), is presented. A comparison between one of the common motion-planning algorithms and experimental results of the prescribed algorithms, made possible by use of a test environment and mobile robot designed and developed specifically for this research, are presented and discussed.

Limited Impact of Setup and Range Uncertainties, Breathing Motion, and Interplay Effects in Robustly Optimized Intensity Modulated Proton Therapy for Stage III Non-small Cell Lung Cancer.

PubMed

Inoue, Tatsuya; Widder, Joachim; van Dijk, Lisanne V; Takegawa, Hideki; Koizumi, Masahiko; Takashina, Masaaki; Usui, Keisuke; Kurokawa, Chie; Sugimoto, Satoru; Saito, Anneyuko I; Sasai, Keisuke; Van't Veld, Aart A; Langendijk, Johannes A; Korevaar, Erik W

2016-11-01

To investigate the impact of setup and range uncertainties, breathing motion, and interplay effects using scanning pencil beams in robustly optimized intensity modulated proton therapy (IMPT) for stage III non-small cell lung cancer (NSCLC). Three-field IMPT plans were created using a minimax robust optimization technique for 10 NSCLC patients. The plans accounted for 5- or 7-mm setup errors with ±3% range uncertainties. The robustness of the IMPT nominal plans was evaluated considering (1) isotropic 5-mm setup errors with ±3% range uncertainties; (2) breathing motion; (3) interplay effects; and (4) a combination of items 1 and 2. The plans were calculated using 4-dimensional and average intensity projection computed tomography images. The target coverage (TC, volume receiving 95% of prescribed dose) and homogeneity index (D2 - D98, where D2 and D98 are the least doses received by 2% and 98% of the volume) for the internal clinical target volume, and dose indexes for lung, esophagus, heart and spinal cord were compared with that of clinical volumetric modulated arc therapy plans. The TC and homogeneity index for all plans were within clinical limits when considering the breathing motion and interplay effects independently. The setup and range uncertainties had a larger effect when considering their combined effect. The TC decreased to <98% (clinical threshold) in 3 of 10 patients for robust 5-mm evaluations. However, the TC remained >98% for robust 7-mm evaluations for all patients. The organ at risk dose parameters did not significantly vary between the respective robust 5-mm and robust 7-mm evaluations for the 4 error types. Compared with the volumetric modulated arc therapy plans, the IMPT plans showed better target homogeneity and mean lung and heart dose parameters reduced by about 40% and 60%, respectively. In robustly optimized IMPT for stage III NSCLC, the setup and range uncertainties, breathing motion, and interplay effects have limited impact on target coverage, dose homogeneity, and organ-at-risk dose parameters. Copyright © 2016 Elsevier Inc. All rights reserved.

Beyond plate tectonics - Looking at plate deformation with space geodesy

NASA Technical Reports Server (NTRS)

Jordan, Thomas H.; Minster, J. Bernard

1988-01-01

The requirements that must be met by space-geodetic systems in order to constrain the horizontal secular motions associated with the geological deformation of the earth's surface are explored. It is suggested that in order to improve existing plate-motion models, the tangential components of relative velocities on interplate baselines must be resolved to an accuracy of less than 3 mm/yr. Results indicate that measuring the velocities between crustal blocks to + or - 5 mm/yr on 100-km to 1000-km scales can produce geologically significant constraints on the integrated deformation rates across continental plate-boundary zones such as the western United States.

Flexible Coordination in Resource-Constrained Domains

DTIC Science & Technology

1994-07-01

Experiments (TIEs) with planning technologies developed at both BBN (FMERG) and SRI ( SOCAP ). We have also exported scheduling support capabilities provided by...SRI’s SOCAP course of action (COA) plan generator. "* Development and demonstration of distributed, multi-level deployment scheduling - Through analysis...scheduler was adapted for integration with the SOCAP planning system to provide feedback on transportation feasibility during generation of the

SU-F-J-132: Evaluation of CTV-To-PTV Expansion for Whole Breast Radiotherapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Burgdorf, B; Freedman, G; Teo, B

2016-06-15

Purpose: The current standard CTV-to-PTV expansion for whole breast radiotherapy (WBRT) is 7mm, as recommended by RTOG-1005.This expansion is derived from the uncertainty due to patient positioning (±5mm) and respiratory motion (±5mm). We evaluated the expansion needed for respiratory motion uncertainty using 4DCT. After determining the appropriate expansion margins, RT plans were generated to evaluate the reduction in heart and lung dose. Methods: 4DCT images were acquired during treatment simulation and retrospectively analyzed for 34 WBRT patients. Breast CTVs were contoured on the maximum inhale and exhale phase. Breast CTV displacement was measured in the L-R, A-P, and SUP-INF directionsmore » using rigid registration between phase images. Averaging over the 34 patients, we determined the margin due to respiratory motion. Plans were generated for 10 left-sided cases comparing the new expansion with the 7mm PTV expansion. Results: The results for respiratory motion uncertainty are shown in Table 1. Drawing on previous work by White et al at Princess Margaret Hospital (1) (see supporting document for reference) which studied the uncertainty due to patient positioning, we concluded that, in total, a 5mm expansion was sufficient. The results for our suggested PTV margin are shown in Table 2, combining the patient positioning results from White et al with our respiratory motion results. The planning results demonstrating the heart and lung dose differences in the 5mm CTV-to-PTV expanded plan compared to the 7mm plan are shown in Table 3. Conclusion: Our work evaluating the expansion needed for respiratory motion along with previous work evaluating the expansion needed for setup uncertainty shows that a CTV-to-PTV expansion of 5mm is acceptable and conservative. By reducing the PTV expansion, significant dose reduction to the heart and lung are achievable.« less

SU-E-J-164: Estimation of DVH Variation for PTV Due to Interfraction Organ Motion in Prostate VMAT Using Gaussian Error Function

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lewis, C; Jiang, R; Chow, J

2015-06-15

Purpose: We developed a method to predict the change of DVH for PTV due to interfraction organ motion in prostate VMAT without repeating the CT scan and treatment planning. The method is based on a pre-calculated patient database with DVH curves of PTV modelled by the Gaussian error function (GEF). Methods: For a group of 30 patients with different prostate sizes, their VMAT plans were recalculated by shifting their PTVs 1 cm with 10 increments in the anterior-posterior, left-right and superior-inferior directions. The DVH curve of PTV in each replan was then fitted by the GEF to determine parameters describingmore » the shape of curve. Information of parameters, varying with the DVH change due to prostate motion for different prostate sizes, was analyzed and stored in a database of a program written by MATLAB. Results: To predict a new DVH for PTV due to prostate interfraction motion, prostate size and shift distance with direction were input to the program. Parameters modelling the DVH for PTV were determined based on the pre-calculated patient dataset. From the new parameters, DVH curves of PTVs with and without considering the prostate motion were plotted for comparison. The program was verified with different prostate cases involving interfraction prostate shifts and replans. Conclusion: Variation of DVH for PTV in prostate VMAT can be predicted using a pre-calculated patient database with DVH curve fitting. The computing time is fast because CT rescan and replan are not required. This quick DVH estimation can help radiation staff to determine if the changed PTV coverage due to prostate shift is tolerable in the treatment. However, it should be noted that the program can only consider prostate interfraction motions along three axes, and is restricted to prostate VMAT plan using the same plan script in the treatment planning system.« less

Wind-Tunnel Modeling of Flow Diffusion over an Urban Complex.

DTIC Science & Technology

URBAN AREAS, *ATMOSPHERIC MOTION, *AIR POLLUTION, ATMOSPHERIC MOTION, WIND TUNNEL MODELS, HEAT, DIFFUSION , TURBULENT BOUNDARY LAYER, WIND, SKIN FRICTION, MATHEMATICAL MODELS, URBAN PLANNING, INDIANA.

42 CFR 409.33 - Examples of skilled nursing and rehabilitation services.

Code of Federal Regulations, 2011 CFR

2011-10-01

... reaction. Patients who, in addition to their physical problems, exhibit acute psychological symptoms such... of a patient care plan, including tests and measurements of range of motion, strength, balance... neurological, muscular, or skeletal abnormality; (4) Range of motion exercises: Range of motion exercises which...

42 CFR 409.33 - Examples of skilled nursing and rehabilitation services.

Code of Federal Regulations, 2010 CFR

2010-10-01

... reaction. Patients who, in addition to their physical problems, exhibit acute psychological symptoms such... of a patient care plan, including tests and measurements of range of motion, strength, balance... neurological, muscular, or skeletal abnormality; (4) Range of motion exercises: Range of motion exercises which...

An Analytical Dynamics Approach to the Control of Mechanical Systems

NASA Astrophysics Data System (ADS)

Mylapilli, Harshavardhan

A new and novel approach to the control of nonlinear mechanical systems is presented in this study. The approach is inspired by recent results in analytical dynamics that deal with the theory of constrained motion. The control requirements on the dynamical system are viewed from an analytical dynamics perspective and the theory of constrained motion is used to recast these control requirements as constraints on the dynamical system. Explicit closed form expressions for the generalized nonlinear control forces are obtained by using the fundamental equation of mechanics. The control so obtained is optimal at each instant of time and causes the constraints to be exactly satisfied. No linearizations and/or approximations of the nonlinear dynamical system are made, and no a priori structure is imposed on the nature of nonlinear controller. Three examples dealing with highly nonlinear complex dynamical systems that are chosen from diverse areas of discrete and continuum mechanics are presented to demonstrate the control approach. The first example deals with the energy control of underactuated inhomogeneous nonlinear lattices (or chains), the second example deals with the synchronization of the motion of multiple coupled slave gyros with that of a master gyro, and the final example deals with the control of incompressible hyperelastic rubber-like thin cantilever beams. Numerical simulations accompanying these examples show the ease, simplicity and the efficacy with which the control methodology can be applied and the accuracy with which the desired control objectives can be met.

Revisions to some parameters used in stochastic-method simulations of ground motion

USGS Publications Warehouse

Boore, David; Thompson, Eric M.

2015-01-01

The stochastic method of ground‐motion simulation specifies the amplitude spectrum as a function of magnitude (M) and distance (R). The manner in which the amplitude spectrum varies with M and R depends on physical‐based parameters that are often constrained by recorded motions for a particular region (e.g., stress parameter, geometrical spreading, quality factor, and crustal amplifications), which we refer to as the seismological model. The remaining ingredient for the stochastic method is the ground‐motion duration. Although the duration obviously affects the character of the ground motion in the time domain, it also significantly affects the response of a single‐degree‐of‐freedom oscillator. Recently published updates to the stochastic method include a new generalized double‐corner‐frequency source model, a new finite‐fault correction, a new parameterization of duration, and a new duration model for active crustal regions. In this article, we augment these updates with a new crustal amplification model and a new duration model for stable continental regions. Random‐vibration theory (RVT) provides a computationally efficient method to compute the peak oscillator response directly from the ground‐motion amplitude spectrum and duration. Because the correction factor used to account for the nonstationarity of the ground motion depends on the ground‐motion amplitude spectrum and duration, we also present new RVT correction factors for both active and stable regions.

49 CFR 234.265 - Timing relays and timing devices.

Code of Federal Regulations, 2010 CFR

2010-10-01

... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION GRADE CROSSING SIGNAL SYSTEM SAFETY AND STATE ACTION PLANS... devices which perform internal functions associated with motion detectors, motion sensors, and grade...

Very fast motion planning for highly dexterous-articulated robots

NASA Technical Reports Server (NTRS)

Challou, Daniel J.; Gini, Maria; Kumar, Vipin

1994-01-01

Due to the inherent danger of space exploration, the need for greater use of teleoperated and autonomous robotic systems in space-based applications has long been apparent. Autonomous and semi-autonomous robotic devices have been proposed for carrying out routine functions associated with scientific experiments aboard the shuttle and space station. Finally, research into the use of such devices for planetary exploration continues. To accomplish their assigned tasks, all such autonomous and semi-autonomous devices will require the ability to move themselves through space without hitting themselves or the objects which surround them. In space it is important to execute the necessary motions correctly when they are first attempted because repositioning is expensive in terms of both time and resources (e.g., fuel). Finally, such devices will have to function in a variety of different environments. Given these constraints, a means for fast motion planning to insure the correct movement of robotic devices would be ideal. Unfortunately, motion planning algorithms are rarely used in practice because of their computational complexity. Fast methods have been developed for detecting imminent collisions, but the more general problem of motion planning remains computationally intractable. However, in this paper we show how the use of multicomputers and appropriate parallel algorithms can substantially reduce the time required to synthesize paths for dexterous articulated robots with a large number of joints. We have developed a parallel formulation of the Randomized Path Planner proposed by Barraquand and Latombe. We have shown that our parallel formulation is capable of formulating plans in a few seconds or less on various parallel architectures including: the nCUBE2 multicomputer with up to 1024 processors (nCUBE2 is a registered trademark of the nCUBE corporation), and a network of workstations.

SELECTING INDICATORS OF BIODIVERSITY FOR CONSERVATION PLANNING: IDENTIFYING THE MECHANISMS BEHIND INDICATOR GROUP PERFORMANCE

EPA Science Inventory

Most conservation planning is constrained by time and funding. In particular, the selection of areas to protect biodiversity must often be completed with limited data on species distributions. Consequently, different groups of species have been proposed as indicators or surroga...

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hernandez, M; Fontenot, J; Heins, D

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). VMATmore » 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.« less

Advanced treatment planning using direct 4D optimisation for pencil-beam scanned particle therapy

NASA Astrophysics Data System (ADS)

Bernatowicz, Kinga; Zhang, Ye; Perrin, Rosalind; Weber, Damien C.; Lomax, Antony J.

2017-08-01

We report on development of a new four-dimensional (4D) optimisation approach for scanned proton beams, which incorporates both irregular motion patterns and the delivery dynamics of the treatment machine into the plan optimiser. Furthermore, we assess the effectiveness of this technique to reduce dose to critical structures in proximity to moving targets, while maintaining effective target dose homogeneity and coverage. The proposed approach has been tested using both a simulated phantom and a clinical liver cancer case, and allows for realistic 4D calculations and optimisation using irregular breathing patterns extracted from e.g. 4DCT-MRI (4D computed tomography-magnetic resonance imaging). 4D dose distributions resulting from our 4D optimisation can achieve almost the same quality as static plans, independent of the studied geometry/anatomy or selected motion (regular and irregular). Additionally, current implementation of the 4D optimisation approach requires less than 3 min to find the solution for a single field planned on 4DCT of a liver cancer patient. Although 4D optimisation allows for realistic calculations using irregular breathing patterns, it is very sensitive to variations from the planned motion. Based on a sensitivity analysis, target dose homogeneity comparable to static plans (D5-D95  <5%) has been found only for differences in amplitude of up to 1 mm, for changes in respiratory phase  <200 ms and for changes in the breathing period of  <20 ms in comparison to the motions used during optimisation. As such, methods to robustly deliver 4D optimised plans employing 4D intensity-modulated delivery are discussed.

SU-C-210-01: Are Clinically Relevant Dosimetric Endpoints Significantly Better with Gating of Lung SBRT Vs. ITV-Based Treatment?: Results of a Large Cohort Investigation Analyzing Predictive Dosimetric Indicators as a Function of Tumor Volume and Motion Amplitude

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kim, J; Zhao, B; Ajlouni, M

2015-06-15

Purpose: To quantitatively compare patient internal target volume (ITV)-based plans with retrospectively generated gated plans to evaluate potential dosimetric improvements in lung toxicity from gated radiotherapy. Methods: Evaluation was conducted for 150 stereotactic body radiation therapy (SBRT) treatment plans for 128 early-stage (T1–T3, <5cm) NSCLC patients. PTV margins were: ITV+5 mm (ITV-plan) and GTV+5 mm (Gated-plan). ITV-based and gated treatment plans were compared on the same free-breathing CT. ITV-based plan constraints were used to re-optimize and recalculate new gated plans. Plans were generated for 3 fractionation regimens: 3×18Gy, 4×12Gy (original), and 5×10Gy. Physical dose was converted to equivalent dose inmore » 2Gy fractions (EQD2), which was used to determine mean lung dose (MLD) and percent volume of lung receiving ≥20Gy (V20). MLD and V20 differences between gating and ITV-based plans were analyzed as a function of both three-dimensional (3D) motion and tumor volume. The low dose region, V5, was also evaluated. Results: MLD and V20 differences between gated and ITV-based plans were larger for lower (1.48±1.32Gy and 1.44±1.29%) than for upper lobe tumors (0.89±0.74Gy and 0.92±0.71%) due to smaller tumor motion (2.9±3.4mm) compared to lower lobe tumors (8.1±6.1mm). Average differences of <1–2% were noted in V5 between ITV and gated plans. Dosimetric differences between gating and ITV-based methods increased with increasing tumor motion and decreasing tumor volume. Overall, average MLD (8.04±3.92Gy) and V20 (8.29±4.33%) values for ITV-based plans were already well below clinical guidelines, even for the 3×18Gy dose scheme, for which largest differences were noted relative to gated plans. Similar results were obtained for 5×10Gy and 4×12Gy regimens. Conclusion: Clinically relevant improvement in pulmonary toxicity, based on predictors of radiation pneumonitis (MLD and V20) was not generally observed, though improvement for tumors with 3D motion >15 mm, mainly concentrated in peripheral lower lobe tumors, may be considered clinically relevant. Work supported in part by a grant from Varian Medical systems, Palo Alto, CA.« less

Optimal motion planning using navigation measure

NASA Astrophysics Data System (ADS)

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.

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

PubMed Central

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

Using Geological Implications of a Physical Libration to Constrain Enceladus' Libration State

NASA Technical Reports Server (NTRS)

Hurford, T. A.; Bills, B. G.; Helfenstein, P.; Greenberg, R.; Hoppa, G. V.; Hamilton, D. P.

2009-01-01

Observations of Enceladus' south pole revealed large rifts in the crust, called "tiger stripes", which exhibit higher temperatures than the surrounding terrain and are likely sources of observed eruptions. Tidal stress may periodically open the tiger stripe rifts, controlling the timing and location of eruptions. Moreover, shear motion along rifts may produce the heat to drive eruptions.

Generalized centripetal force law and quantization of motion constrained on 2D surfaces

NASA Astrophysics Data System (ADS)

Liu, Q. H.; Zhang, J.; Lian, D. K.; Hu, L. D.; Li, Z.

2017-03-01

For a particle of mass μ moves on a 2D surface f(x) = 0 embedded in 3D Euclidean space of coordinates x, there is an open and controversial problem whether the Dirac's canonical quantization scheme for the constrained motion allows for the geometric potential that has been experimentally confirmed. We note that the Dirac's scheme hypothesizes that the symmetries indicated by classical brackets among positions x and momenta p and Hamiltonian Hc remain in quantum mechanics, i.e., the following Dirac brackets [ x ,Hc ] D and [ p ,Hc ] D holds true after quantization, in addition to the fundamental ones [ x , x ] D, [ x , p ] D and [ p , p ] D. This set of hypotheses implies that the Hamiltonian operator is simultaneously determined during the quantization. The quantum mechanical relations corresponding to the classical mechanical ones p / μ =[ x ,Hc ] D directly give the geometric momenta. The time t derivative of the momenta p ˙ =[ p ,Hc ] D in classical mechanics is in fact the generalized centripetal force law for particle on the 2D surface, which in quantum mechanics permits both the geometric momenta and the geometric potential.

UAVs Task and Motion Planning in the Presence of Obstacles and Prioritized Targets

PubMed Central

Gottlieb, Yoav; Shima, Tal

2015-01-01

The intertwined task assignment and motion planning problem of assigning a team of fixed-winged unmanned aerial vehicles to a set of prioritized targets in an environment with obstacles is addressed. It is assumed that the targets’ locations and initial priorities are determined using a network of unattended ground sensors used to detect potential threats at restricted zones. The targets are characterized by a time-varying level of importance, and timing constraints must be fulfilled before a vehicle is allowed to visit a specific target. It is assumed that the vehicles are carrying body-fixed sensors and, thus, are required to approach a designated target while flying straight and level. The fixed-winged aerial vehicles are modeled as Dubins vehicles, i.e., having a constant speed and a minimum turning radius constraint. The investigated integrated problem of task assignment and motion planning is posed in the form of a decision tree, and two search algorithms are proposed: an exhaustive algorithm that improves over run time and provides the minimum cost solution, encoded in the tree, and a greedy algorithm that provides a quick feasible solution. To satisfy the target’s visitation timing constraint, a path elongation motion planning algorithm amidst obstacles is provided. Using simulations, the performance of the algorithms is compared, evaluated and exemplified. PMID:26610522

A motion phantom study on helical tomotherapy: the dosimetric impacts of delivery technique and motion

NASA Astrophysics Data System (ADS)

Kanagaki, Brian; Read, Paul W.; Molloy, Janelle A.; Larner, James M.; Sheng, Ke

2007-01-01

Helical tomotherapy (HT) can potentially be used for lung cancer treatment including stereotactic radiosurgery because of its advanced image guidance and its ability to deliver highly conformal dose distributions. However, previous theoretical and simulation studies reported that the effect of respiratory motion on statically planned tomotherapy treatments may cause substantial differences between the calculated and actual delivered radiation isodose distribution, particularly when the treatment is hypofractionated. In order to determine the dosimetric effects of motion upon actual HT treatment delivery, phantom film dosimetry measurements were performed under static and moving conditions using a clinical HT treatment unit. The motion phantom system was constructed using a programmable motor, a base, a moving platform and a life size lung heterogeneity phantom with wood inserts representing lung tissue with a 3.0 cm diameter spherical tumour density equivalent insert. In order to determine the effects of different motion and tomotherapy delivery parameters, treatment plans were created using jaw sizes of 1.04 cm and 2.47 cm, with incremental gantry rotation periods between the minimum allowed (10 s) and the maximum allowed (60 s). The couch speed varied from 0.009 cm s-1 to 0.049 cm s-1, and delivered to a phantom under static and dynamic conditions with peak-to-peak motion amplitudes of 1.2 cm and 2 cm and periods of 3 and 5 s to simulate human respiratory motion of lung tumours. A cylindrical clinical target volume (CTV) was contoured to tightly enclose the tumour insert. 2.0 Gy was prescribed to 95% of the CTV. Two-dimensional dose was measured by a Kodak EDR2 film. Dynamic phantom doses were then quantitatively compared to static phantom doses in terms of axial dose profiles, cumulative dose volume histograms (DVH), percentage of CTV receiving the prescription dose and the minimum dose received by 95% of the CTV. The larger motion amplitude resulted in more under-dosing at the ends of the CTV in the axis of motion, and this effect was greater for the smaller jaw size plans. Due to the size of the penumbra, the 2.47 cm jaw plans provide adequate coverage for smaller amplitudes of motion, ±0.6 cm in our experiment, without adding any additional margin in the axis of motion to the treatment volume. The periodic heterogeneous patterns described by previous studies were not observed from the single fraction of the phantom measurement. Besides the jaw sizes, CTV dose coverage is not significantly dependent on machine and phantom motion periods. The lack of adverse synchronization patterns from both results validate that HT is a safe technique for treating moving target and hypofractionation.

Implementing a Help Desk at a Small Liberal Arts College.

ERIC Educational Resources Information Center

Actis, Bev

1993-01-01

Planning for a computer use "help desk" at Kenyon College (Ohio) was constrained by very limited resources. However, careful and thorough planning resulted in a low-budget, homegrown, but highly effective facility. Staffing, training, staff communication, and marketing the service were essential elements in its success. (MSE)

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

NASA Technical Reports Server (NTRS)

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.

SU-E-T-558: Assessing the Effect of Inter-Fractional Motion in Esophageal Sparing Plans.

PubMed

Williamson, R; Bluett, J; Niedzielski, J; Liao, Z; Gomez, D; Court, L

2012-06-01

To compare esophageal dose distributions in esophageal sparing IMRT plans with predicted dose distributions which include the effect of inter-fraction motion. Seven lung cancer patients were used, each with a standard and an esophageal sparing plan (74Gy, 2Gy fractions). The average max dose to esophagus was 8351cGy and 7758cGy for the standard and sparing plans, respectively. The average length of esophagus for which the total circumference was treated above 60Gy (LETT60) was 9.4cm in the standard plans and 5.8cm in the sparing plans. In order to simulate inter-fractional motion, a three-dimensional rigid shift was applied to the calculated dose field. A simulated course of treatment consisted of a single systematic shift applied throughout the treatment as well a random shift for each of the 37 fractions. Both systematic and random shifts were generated from Gaussian distributions of 3mm and 5mm standard deviation. Each treatment course was simulated 1000 times to obtain an expected distribution of the delivered dose. Simulated treatment dose received by the esophagus was less than dose seen in the treatment plan. The average reduction in maximum esophageal dose for the standard plans was 234cGy and 386cGY for the 3mm and 5mm Gaussian distributions, respectively. The average reduction in LETT60 was 0.6cm and 1.7cm, for the 3mm and 5mm distributions respectively. For the esophageal sparing plans, the average reduction in maximum esophageal dose was 94cGy and 202cGy for 3mm and 5mm Gaussian distributions, respectively. The average change in LETT60 for the esophageal sparing plans was smaller, at 0.1cm (increase) and 0.6cm (reduction), for the 3mm and 5mm distributions, respectively. Interfraction motion consistently reduced the maximum doses to the esophagus for both standard and esophageal sparing plans. © 2012 American Association of Physicists in Medicine.

An improved cosmic crystallography method to detect holonomies in flat spaces

NASA Astrophysics Data System (ADS)

Fujii, H.; Yoshii, Y.

2011-05-01

A new, improved version of a cosmic crystallography method for constraining cosmic topology is introduced. Like the circles-in-the-sky method using CMB data, we work in a thin, shell-like region containing plenty of objects. Two pairs of objects (quadruplet) linked by a holonomy show a specific distribution pattern, and three filters of separation, vectorial condition, and lifetime of objects extract these quadruplets. Each object Pi is assigned an integer si, which is the number of candidate quadruplets including Pi as their members. Then an additional device of si-histogram is used to extract topological ghosts, which tend to have high values of si. In this paper we consider flat spaces with Euclidean geometry, and the filters are designed to constrain their holonomies. As the second filter, we prepared five types that are specialized for constraining specific holonomies: one for translation, one for half-turn corkscrew motion and glide reflection, and three for nth turn corkscrew motion for n = 4,3, and 6. Every multiconnected space has holonomies that are detected by at least one of these five filters.Our method is applied to the catalogs of toy quasars in flat Λ-CDM universes whose typical sizes correspond to z ~ 5. With these simulations our method is found to work quite well. These are the situations in which type-II pair crystallography methods are insensitive because of the tiny number of ghosts. Moreover, in the flat cases, our method should be more sensitive than the type-I pair (or, in general, n-tuplet) methods because of its multifilter construction and its independence from n.

WE-EF-303-02: BEST IN PHYSICS (JOINT IMAGING- THERAPY): A Comprehensive Simulation of Image Guided Beam Gating for Liver Tumor Treatments Using Scanned Proton Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhang, Y; Knopf, A; Weber, D

2015-06-15

Purpose: To evaluate the effectiveness of image guided beam gating for PBS liver treatments under realistic breathing conditions. Methods: We have previously proposed a Beams’ Eye View (BEV) X-ray image system as an online motion monitoring device for deriving a gating signal for PBS proton therapy. Using dedicated 4D dose calculations (4DDC), in this work we have simulated gated liver treatments using three amplitude-based gating windows (10/5/3mm) based on motion extracted from BEV imaging of fiducial markers or the diaphragm. In order to improve motion mitigation, BEV guided gating has also been combined with either volumetric (VS) or layered (LS)more » rescanning. Nine 4DCT(MRI) liver data-sets have been used for the investigation, which not only consider realistic patient geometries but also motion variations between different breathing cycles. All 4D plans have been quantified in terms of plan homogeneity in the PTV (D5-D95), the total estimated treatment time and the beam-on duty cycle. Results: Neither gating nor rescanning can fully retrieve a comparable plan homogeneity to the static case, and considerable reductions of the duty cycle (<10%) were observed as a Result motion variations when small gating windows are used. However, once combined with rescanning, dose homogeneity within 1% of the static plan could be achieved with reasonable prolongation of the treatment time for all 9 subjects. No differences were observed between the efficacy of layered or volumetric re-scanning, or of gating signals extracted from fiducial or diaphragm motions. However, layered rescanning may be preferred over volumetric rescanning when performed in combination with gating as it is generally more time-efficient and dosimetrically robust to patient and motion variations Conclusion Combining BEV beam gating with rescanning is an efficient and effective approach to treating mobile liver tumours, and is equally effective if either the diaphragm or fiducial markers are used as motion surrogates.« less

The highest-frequency kHz QPOs in neutron star low mass X-ray binaries

NASA Astrophysics Data System (ADS)

van Doesburgh, Marieke; van der Klis, Michiel; Morsink, Sharon M.

2018-05-01

We investigate the detections with RXTE of the highest-frequency kHz QPOs previously reported in six neutron star (NS) low mass X-ray binaries. We find that the highest-frequency kHz QPO detected in 4U 0614+09 has a 1267 Hz 3σ confidence lower limit on its centroid frequency. This is the highest such limit reported to date, and of direct physical interest as it can be used to constrain QPO models and the supranuclear density equation of state (EoS). We compare our measured frequencies to maximum orbital frequencies predicted in full GR using models of rotating neutron stars with a number of different modern EoS and show that these can accommodate the observed QPO frequencies. Orbital motion constrained by NS and ISCO radii is therefore a viable explanation of these QPOs. In the most constraining case of 4U 0614+09 we find the NS mass must be M<2.1 M⊙. From our measured QPO frequencies we can constrain the NS radii for five of the six sources we studied to narrow ranges (±0.1-0.7 km) different for each source and each EoS.

SU-F-T-563: Delivered Dose Reconstruction of Moving Targets for Gated Volumetric Modulated Arc Therapy (VMAT)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chung, H; Cho, S; Jeong, C

2016-06-15

Purpose: Actual delivered dose of moving tumors treated with gated volumetric arc therapy (VMAT) may significantly differ from the planned dose assuming static target. In this study, we developed a method which reconstructs actual delivered dose distribution of moving target by taking into account both tumor motion and dynamic beam delivery of gated VMAT, and applied to abdominal tumors. Methods: Fifteen dual-arc VMAT plans (Eclipse, Varian Medical Systems) for 5 lung, 5 pancreatic, and 5 liver cancer patients treated with gated VMAT stereotactic body radiotherapy (SBRT) were studied. For reconstruction of the delivered dose distribution, we divided each original arcmore » beam into control-point-wise sub-beams, and applied beam isocenter shifting to each sub-beam to reflect the tumor motion. The tumor positions as a function of beam delivery were estimated by synchronizing the beam delivery with the respiratory signal which acquired during treatment. For this purpose, an in-house program (MATLAB, Mathworks) was developed to convert the original DICOM plan data into motion-involved treatment plan. The motion-involved DICOM plan was imported into Eclipse for dose calculation. The reconstructed delivered dose was compared to the plan dose using the dose coverage of gross tumor volume (GTV) and dose distribution of organs at risk (OAR). Results: The mean GTV dose coverage difference between the reconstructed delivered dose and the plan dose was 0.2 % in lung and pancreas cases, and no difference in liver cases. Mean D1000cc of ipsilateral lungs was reduced (0.8 ± 1.4cGy). Conclusion: We successfully developed a method of delivered dose reconstruction taking into account both respiratory tumor motion and dynamic beam delivery, and applied it to abdominal tumors treated with gated VAMT. No significant deterioration of delivered dose distribution indicates that interplay effect would be minimal even in the case of gated SBRT. This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No. 2015038710)« less

Proper motions of five OB stars with candidate dusty bow shocks in the Carina Nebula

NASA Astrophysics Data System (ADS)

Kiminki, Megan M.; Smith, Nathan; Reiter, Megan; Bally, John

2017-06-01

We constrain the proper motions of five OB stars associated with candidate stellar wind bow shocks in the Carina Nebula using Hubble Space Telescope ACS imaging over 9-10 yr baselines. These proper motions allow us to directly compare each star's motion to the orientation of its candidate bow shock. Although these stars are saturated in our imaging, we assess their motion by the shifts required to minimize residuals in their airy rings. The results limit the direction of each star's motion to sectors less than 90° wide. None of the five stars are moving away from the Carina Nebula's central clusters as runaway stars would be, confirming that a candidate bow shock is not necessarily indicative of a runaway star. Two of the five stars are moving tangentially relative to the orientation of their candidate bow shocks, both of which point at the OB cluster Trumpler 14. In these cases, the large-scale flow of the interstellar medium, powered by feedback from the cluster, appears to dominate over the motion of the star in producing the observed candidate bow shock. The remaining three stars all have some component of motion towards the central clusters, meaning that we cannot distinguish whether their candidate bow shocks are indicators of stellar motion, of the flow of ambient gas or of density gradients in their surroundings. In addition, these stars' lack of outward motion hints that the distributed massive-star population in Carina's South Pillars region formed in place, rather than migrating out from the association's central clusters.

Method for separating video camera motion from scene motion for constrained 3D displacement measurements

NASA Astrophysics Data System (ADS)

Gauthier, L. R.; Jansen, M. E.; Meyer, J. R.

2014-09-01

Camera motion is a potential problem when a video camera is used to perform dynamic displacement measurements. If the scene camera moves at the wrong time, the apparent motion of the object under study can easily be confused with the real motion of the object. In some cases, it is practically impossible to prevent camera motion, as for instance, when a camera is used outdoors in windy conditions. A method to address this challenge is described that provides an objective means to measure the displacement of an object of interest in the scene, even when the camera itself is moving in an unpredictable fashion at the same time. The main idea is to synchronously measure the motion of the camera and to use those data ex post facto to subtract out the apparent motion in the scene that is caused by the camera motion. The motion of the scene camera is measured by using a reference camera that is rigidly attached to the scene camera and oriented towards a stationary reference object. For instance, this reference object may be on the ground, which is known to be stationary. It is necessary to calibrate the reference camera by simultaneously measuring the scene images and the reference images at times when it is known that the scene object is stationary and the camera is moving. These data are used to map camera movement data to apparent scene movement data in pixel space and subsequently used to remove the camera movement from the scene measurements.

Adaptive Registration of Varying Contrast-Weighted Images for Improved Tissue Characterization (ARCTIC): Application to T1 Mapping

PubMed Central

Roujol, Sébastien; Foppa, Murilo; Weingartner, Sebastian; Manning, Warren J.; Nezafat, Reza

2014-01-01

Purpose To propose and evaluate a novel non-rigid image registration approach for improved myocardial T1 mapping. Methods Myocardial motion is estimated as global affine motion refined by a novel local non-rigid motion estimation algorithm. A variational framework is proposed, which simultaneously estimates motion field and intensity variations, and uses an additional regularization term to constrain the deformation field using automatic feature tracking. The method was evaluated in 29 patients by measuring the DICE similarity coefficient (DSC) and the myocardial boundary error (MBE) in short axis and four chamber data. Each image series was visually assessed as “no motion” or “with motion”. Overall T1 map quality and motion artifacts were assessed in the 85 T1 maps acquired in short axis view using a 4-point scale (1-non diagnostic/severe motion artifact, 4-excellent/no motion artifact). Results Increased DSC (0.78±0.14 to 0.87±0.03, p<0.001), reduced MBE (1.29±0.72mm to 0.84±0.20mm, p<0.001), improved overall T1 map quality (2.86±1.04 to 3.49±0.77, p<0.001), and reduced T1 map motion artifacts (2.51±0.84 to 3.61±0.64, p<0.001) were obtained after motion correction of “with motion” data (~56% of data). Conclusion The proposed non-rigid registration approach reduces the respiratory-induced motion that occurs during breath-hold T1 mapping, and significantly improves T1 map quality. PMID:24798588

Challenges and opportunities in patient-specific, motion-managed and PET/CT-guided radiation therapy of lung cancer: review and perspective

PubMed Central

2012-01-01

The increasing interest in combined positron emission tomography (PET) and computed tomography (CT) to guide lung cancer radiation therapy planning has been well documented. Motion management strategies during treatment simulation PET/CT imaging and treatment delivery have been proposed to improve the precision and accuracy of radiotherapy. In light of these research advances, why has translation of motion-managed PET/CT to clinical radiotherapy been slow and infrequent? Solutions to this problem are as complex as they are numerous, driven by large inter-patient variability in tumor motion trajectories across a highly heterogeneous population. Such variation dictates a comprehensive and patient-specific incorporation of motion management strategies into PET/CT-guided radiotherapy rather than a one-size-fits-all tactic. This review summarizes challenges and opportunities for clinical translation of advances in PET/CT-guided radiotherapy, as well as in respiratory motion-managed radiotherapy of lung cancer. These two concepts are then integrated into proposed patient-specific workflows that span classification schemes, PET/CT image formation, treatment planning, and adaptive image-guided radiotherapy delivery techniques. PMID:23369522

High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning

PubMed Central

Sun, Wen; Patil, Sachin; Alterovitz, Ron

2015-01-01

As sampling-based motion planners become faster, they can be re-executed more frequently by a robot during task execution to react to uncertainty in robot motion, obstacle motion, sensing noise, and uncertainty in the robot’s kinematic model. We investigate and analyze high-frequency replanning (HFR), where, during each period, fast sampling-based motion planners are executed in parallel as the robot simultaneously executes the first action of the best motion plan from the previous period. We consider discrete-time systems with stochastic nonlinear (but linearizable) dynamics and observation models with noise drawn from zero mean Gaussian distributions. The objective is to maximize the probability of success (i.e., avoid collision with obstacles and reach the goal) or to minimize path length subject to a lower bound on the probability of success. We show that, as parallel computation power increases, HFR offers asymptotic optimality for these objectives during each period for goal-oriented problems. We then demonstrate the effectiveness of HFR for holonomic and nonholonomic robots including car-like vehicles and steerable medical needles. PMID:26279645

Altered transfer of visual motion information to parietal association cortex in untreated first-episode psychosis: Implications for pursuit eye tracking

PubMed Central

Lencer, Rebekka; Keedy, Sarah K.; Reilly, James L.; McDonough, Bruce E.; Harris, Margret S. H.; Sprenger, Andreas; Sweeney, John A.

2011-01-01

Visual motion processing and its use for pursuit eye movement control represent a valuable model for studying the use of sensory input for action planning. In psychotic disorders, alterations of visual motion perception have been suggested to cause pursuit eye tracking deficits. We evaluated this system in functional neuroimaging studies of untreated first-episode schizophrenia (N=24), psychotic bipolar disorder patients (N=13) and healthy controls (N=20). During a passive visual motion processing task, both patient groups showed reduced activation in the posterior parietal projection fields of motion-sensitive extrastriate area V5, but not in V5 itself. This suggests reduced bottom-up transfer of visual motion information from extrastriate cortex to perceptual systems in parietal association cortex. During active pursuit, activation was enhanced in anterior intraparietal sulcus and insula in both patient groups, and in dorsolateral prefrontal cortex and dorsomedial thalamus in schizophrenia patients. This may result from increased demands on sensorimotor systems for pursuit control due to the limited availability of perceptual motion information about target speed and tracking error. Visual motion information transfer deficits to higher -level association cortex may contribute to well-established pursuit tracking abnormalities, and perhaps to a wider array of alterations in perception and action planning in psychotic disorders. PMID:21873035

Analysis of Formation Flying in Eccentric Orbits Using Linearized Equations of Relative Motion

NASA Technical Reports Server (NTRS)

Lane, Christopher; Axelrad, Penina

2004-01-01

Geometrical methods for formation flying design based on the analytical solution to Hill's equations have been previously developed and used to specify desired relative motions in near circular orbits. By generating relationships between the vehicles that are intuitive, these approaches offer valuable insight into the relative motion and allow for the rapid design of satellite configurations to achieve mission specific requirements, such as vehicle separation at perigee or apogee, minimum separation, or a specific geometrical shape. Furthermore, the results obtained using geometrical approaches can be used to better constrain numerical optimization methods; allowing those methods to converge to optimal satellite configurations faster. This paper presents a set of geometrical relationships for formations in eccentric orbits, where Hill.s equations are not valid, and shows how these relationships can be used to investigate formation designs and how they evolve with time.

A practical six-degree of freedom solar sail dynamics model for optimizing solar sail trajectories with torque constraints

NASA Technical Reports Server (NTRS)

Lisano, Michael E.

2004-01-01

Controlled flight of a solar sail-propelled spacecraft ('sailcraft') is a six-degree-of-freedom dynamics problem. Current state-of-the-art tools that simulate and optimize the trajectories flown by sailcraft do not treat the full kinetic (i.e. force and torque-constrained) motion, instead treating a discrete history of commanded sail attitudes, and either neglecting the sail attitude motion over an integration timestep, or treating the attitude evolution kinematically with a spline or similar treatment. The present paper discusses an aspect of developing a next generation sailcraf trajectory designing optimization tool JPL, for NASA's Solar Sail Spaceflight Simulation Software (SS). The aspect discussed in an experimental approach to modeling full six-degree-of-freedom kinetic motion of a solar sail in a trajectory propagator. Early results from implementing this approach in a new trajectory propagation tool are given.

Pacific plate motion change caused the Hawaiian-Emperor Bend

PubMed Central

Torsvik, Trond H.; Doubrovine, Pavel V.; Steinberger, Bernhard; Gaina, Carmen; Spakman, Wim; Domeier, Mathew

2017-01-01

A conspicuous 60° bend of the Hawaiian-Emperor Chain in the north-western Pacific Ocean has variously been interpreted as the result of an abrupt Pacific plate motion change in the Eocene (∼47 Ma), a rapid southward drift of the Hawaiian hotspot before the formation of the bend, or a combination of these two causes. Palaeomagnetic data from the Emperor Seamounts prove ambiguous for constraining the Hawaiian hotspot drift, but mantle flow modelling suggests that the hotspot drifted 4–9° south between 80 and 47 Ma. Here we demonstrate that southward hotspot drift cannot be a sole or dominant mechanism for formation of the Hawaiian-Emperor Bend (HEB). While southward hotspot drift has resulted in more northerly positions of the Emperor Seamounts as they are observed today, formation of the HEB cannot be explained without invoking a prominent change in the direction of Pacific plate motion around 47 Ma. PMID:28580950

Visualization in mechanics: the dynamics of an unbalanced roller

NASA Astrophysics Data System (ADS)

Cumber, Peter S.

2017-04-01

It is well known that mechanical engineering students often find mechanics a difficult area to grasp. This article describes a system of equations describing the motion of a balanced and an unbalanced roller constrained by a pivot arm. A wide range of dynamics can be simulated with the model. The equations of motion are embedded in a graphical user interface for its numerical solution in MATLAB. This allows a student's focus to be on the influence of different parameters on the system dynamics. The simulation tool can be used as a dynamics demonstrator in a lecture or as an educational tool driven by the imagination of the student. By way of demonstration the simulation tool has been applied to a range of roller-pivot arm configurations. In addition, approximations to the equations of motion are explored and a second-order model is shown to be accurate for a limited range of parameters.

Hydrodynamical simulations of Pinwheel nebula WR 104

NASA Astrophysics Data System (ADS)

Lamberts, A.; Fromang, S.; Dubus, G.

2010-12-01

The interaction of stellar winds from two companion stars leads to the formation of a shocked structure. Several analytic solutions have been developped to model this phenomenon. We compare our 2D and 3D hydrodynamical simulations to these results and highlight their shortcomings. Analytic solutions do not take orbital motion into account although this drastically changes the structure at large distances, turning it into a spiral. This is observed in Pinwheel Nebulae, binaries composed of a Wolf-Rayet star and an early-type star. Their infrared emission is due to dust whose origin is stil poorly constrained. We perform large scale 2D simulations of one particular system, WR 104. Including the orbital motion, we follow the flow up to a few steps of the spiral. This is made possible using adaptive mesh refinement. We determine the properties of the gas in the winds and confirm the flow in the spiral has a ballistic motion.

Directional asymmetries in human smooth pursuit eye movements.

PubMed

Ke, Sally R; Lam, Jessica; Pai, Dinesh K; Spering, Miriam

2013-06-27

Humans make smooth pursuit eye movements to bring the image of a moving object onto the fovea. Although pursuit accuracy is critical to prevent motion blur, the eye often falls behind the target. Previous studies suggest that pursuit accuracy differs between motion directions. Here, we systematically assess asymmetries in smooth pursuit. In experiment 1, binocular eye movements were recorded while observers (n = 20) tracked a small spot of light moving along one of four cardinal or diagonal axes across a featureless background. We analyzed pursuit latency, acceleration, peak velocity, gain, and catch-up saccade latency, number, and amplitude. In experiment 2 (n = 22), we examined the effects of spatial location and constrained stimulus motion within the upper or lower visual field. Pursuit was significantly faster (higher acceleration, peak velocity, and gain) and smoother (fewer and later catch-up saccades) in response to downward versus upward motion in both the upper and the lower visual fields. Pursuit was also more accurate and smoother in response to horizontal versus vertical motion. CONCLUSIONS. Our study is the first to report a consistent up-down asymmetry in human adults, regardless of visual field. Our findings suggest that pursuit asymmetries are adaptive responses to the requirements of the visual context: preferred motion directions (horizontal and downward) are more critical to our survival than nonpreferred ones.

Integrated fMRI Preprocessing Framework Using Extended Kalman Filter for Estimation of Slice-Wise Motion

PubMed Central

Pinsard, Basile; Boutin, Arnaud; Doyon, Julien; Benali, Habib

2018-01-01

Functional MRI acquisition is sensitive to subjects' motion that cannot be fully constrained. Therefore, signal corrections have to be applied a posteriori in order to mitigate the complex interactions between changing tissue localization and magnetic fields, gradients and readouts. To circumvent current preprocessing strategies limitations, we developed an integrated method that correct motion and spatial low-frequency intensity fluctuations at the level of each slice in order to better fit the acquisition processes. The registration of single or multiple simultaneously acquired slices is achieved online by an Iterated Extended Kalman Filter, favoring the robust estimation of continuous motion, while an intensity bias field is non-parametrically fitted. The proposed extraction of gray-matter BOLD activity from the acquisition space to an anatomical group template space, taking into account distortions, better preserves fine-scale patterns of activity. Importantly, the proposed unified framework generalizes to high-resolution multi-slice techniques. When tested on simulated and real data the latter shows a reduction of motion explained variance and signal variability when compared to the conventional preprocessing approach. These improvements provide more stable patterns of activity, facilitating investigation of cerebral information representation in healthy and/or clinical populations where motion is known to impact fine-scale data. PMID:29755312

Integrated fMRI Preprocessing Framework Using Extended Kalman Filter for Estimation of Slice-Wise Motion.

PubMed

Pinsard, Basile; Boutin, Arnaud; Doyon, Julien; Benali, Habib

2018-01-01

Functional MRI acquisition is sensitive to subjects' motion that cannot be fully constrained. Therefore, signal corrections have to be applied a posteriori in order to mitigate the complex interactions between changing tissue localization and magnetic fields, gradients and readouts. To circumvent current preprocessing strategies limitations, we developed an integrated method that correct motion and spatial low-frequency intensity fluctuations at the level of each slice in order to better fit the acquisition processes. The registration of single or multiple simultaneously acquired slices is achieved online by an Iterated Extended Kalman Filter, favoring the robust estimation of continuous motion, while an intensity bias field is non-parametrically fitted. The proposed extraction of gray-matter BOLD activity from the acquisition space to an anatomical group template space, taking into account distortions, better preserves fine-scale patterns of activity. Importantly, the proposed unified framework generalizes to high-resolution multi-slice techniques. When tested on simulated and real data the latter shows a reduction of motion explained variance and signal variability when compared to the conventional preprocessing approach. These improvements provide more stable patterns of activity, facilitating investigation of cerebral information representation in healthy and/or clinical populations where motion is known to impact fine-scale data.

TH-CD-207A-12: Impacts of Inter- and Intra-Fractional Organ Motion for High-Risk Prostate Cancer Stereotactic Body Radiation Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hassan Rezaeian, N; Chi, Y; Zhou, Y

2016-06-15

Purpose: We are conducting a clinical trial on stereotactic body radiation therapy (SBRT) for high-risk prostate cancer. Doses to three targets, prostate, intra-prostatic lesion, and pelvic lymph node (PLN) region, are escalated to three different levels via simultaneous integrated boost technique. Inter-/intra-fractional organ motions deteriorate planned dose distribution. This study aims at developing a dose reconstruction system to comprehensively understand the impacts of organ motion in our clinical trial. Methods: A 4D dose reconstruction system has been developed for this study. Using a GPU-based Monte-Carlo dose engine and delivery log file, the system is able to reconstruct dose on staticmore » or dynamic anatomy. For prostate and intra-prostatic targets, intra-fractional motion is the main concern. Motion trajectory acquired from Calypso in previously treated SBRT patients were used to perform 4D dose reconstructions. For pelvic target, inter-fractional motion is one concern. Eight patients, each with four cone beam CTs, were used to derive fractional motion. The delivered dose was reconstructed on the deformed anatomy. Dosimetric parameters for delivered dose distributions of the three targets were extracted and compared with planned levels. Results: For prostate intra-fractional motion, the mean 3D motion amplitude during beam delivery ranged from 1.5mm to 5.0mm and the average among all patients was 2.61mm. Inter-fractional motion for the PLN target was more significant. The average amplitude among patients was 4mm with the largest amplitude up to 9.6mm. The D95% deviation from planned level for prostate PTVs and GTVs are on average less than<0.1% and this deviation for intra-prostatic lesion PTVs and GTVs were more prominent. The dose at PLN was significantly affected with D{sub 95}% reduced by up to 44%. Conclusion: Intra-/inter-fractional organ motion is a concern for high-risk prostate SBRT, particularly for the PLN target. Our dose reconstruction approach can also serve as the basis to guide treatment adaptation.« less

System and method for identifying, validating, weighing and characterizing moving or stationary vehicles and cargo

DOEpatents

Beshears, David L.; Batsell, Stephen G.; Abercrombie, Robert K.; Scudiere, Matthew B.; White, Clifford P.

2007-12-04

An asset identification and information infrastructure management (AI3M) device having an automated identification technology system (AIT), a Transportation Coordinators' Automated Information for Movements System II (TC-AIMS II), a weigh-in-motion system (WIM-II), and an Automated Air Load Planning system (AALPS) all in electronic communication for measuring and calculating actual asset characteristics, either statically or in-motion, and further calculating an actual load plan.

Bi-stability in cooperative transport by ants in the presence of obstacles

PubMed Central

Pinkoviezky, Itai; Feinerman, Ofer

2018-01-01

To cooperatively carry large food items to the nest, individual ants conform their efforts and coordinate their motion. Throughout this expedition, collective motion is driven both by internal interactions between the carrying ants and a response to newly arrived informed ants that orient the cargo towards the nest. During the transport process, the carrying group must overcome obstacles that block their path to the nest. Here, we investigate the dynamics of cooperative transport, when the motion of the ants is frustrated by a linear obstacle that obstructs the motion of the cargo. The obstacle contains a narrow opening that serves as the only available passage to the nest, and through which single ants can pass but not with the cargo. We provide an analytical model for the ant-cargo system in the constrained environment that predicts a bi-stable dynamic behavior between an oscillatory mode of motion along the obstacle and a convergent mode of motion near the opening. Using both experiments and simulations, we show how for small cargo sizes, the system exhibits spontaneous transitions between these two modes of motion due to fluctuations in the applied force on the cargo. The bi-stability provides two possible problem solving strategies for overcoming the obstacle, either by attempting to pass through the opening, or take large excursions to circumvent the obstacle. PMID:29746457

Bi-stability in cooperative transport by ants in the presence of obstacles.

PubMed

Ron, Jonathan E; Pinkoviezky, Itai; Fonio, Ehud; Feinerman, Ofer; Gov, Nir S

2018-05-01

To cooperatively carry large food items to the nest, individual ants conform their efforts and coordinate their motion. Throughout this expedition, collective motion is driven both by internal interactions between the carrying ants and a response to newly arrived informed ants that orient the cargo towards the nest. During the transport process, the carrying group must overcome obstacles that block their path to the nest. Here, we investigate the dynamics of cooperative transport, when the motion of the ants is frustrated by a linear obstacle that obstructs the motion of the cargo. The obstacle contains a narrow opening that serves as the only available passage to the nest, and through which single ants can pass but not with the cargo. We provide an analytical model for the ant-cargo system in the constrained environment that predicts a bi-stable dynamic behavior between an oscillatory mode of motion along the obstacle and a convergent mode of motion near the opening. Using both experiments and simulations, we show how for small cargo sizes, the system exhibits spontaneous transitions between these two modes of motion due to fluctuations in the applied force on the cargo. The bi-stability provides two possible problem solving strategies for overcoming the obstacle, either by attempting to pass through the opening, or take large excursions to circumvent the obstacle.

Finite element analysis of moment-rotation relationships for human cervical spine.

PubMed

Zhang, Qing Hang; Teo, Ee Chon; Ng, Hong Wan; Lee, Vee Sin

2006-01-01

A comprehensive, geometrically accurate, nonlinear C0-C7 FE model of head and cervical spine based on the actual geometry of a human cadaver specimen was developed. The motions of each cervical vertebral level under pure moment loading of 1.0 Nm applied incrementally on the skull to simulate the movements of the head and cervical spine under flexion, tension, axial rotation and lateral bending with the inferior surface of the C7 vertebral body fully constrained were analysed. The predicted range of motion (ROM) for each motion segment were computed and compared with published experimental data. The model predicted the nonlinear moment-rotation relationship of human cervical spine. Under the same loading magnitude, the model predicted the largest rotation in extension, followed by flexion and axial rotation, and least ROM in lateral bending. The upper cervical spines are more flexible than the lower cervical levels. The motions of the two uppermost motion segments account for half (or even higher) of the whole cervical spine motion under rotational loadings. The differences in the ROMs among the lower cervical spines (C3-C7) were relatively small. The FE predicted segmental motions effectively reflect the behavior of human cervical spine and were in agreement with the experimental data. The C0-C7 FE model offers potentials for biomedical and injury studies.

Two novel motion-based algorithms for surveillance video analysis on embedded platforms

NASA Astrophysics Data System (ADS)

Vijverberg, Julien A.; Loomans, Marijn J. H.; Koeleman, Cornelis J.; de With, Peter H. N.

2010-05-01

This paper proposes two novel motion-vector based techniques for target detection and target tracking in surveillance videos. The algorithms are designed to operate on a resource-constrained device, such as a surveillance camera, and to reuse the motion vectors generated by the video encoder. The first novel algorithm for target detection uses motion vectors to construct a consistent motion mask, which is combined with a simple background segmentation technique to obtain a segmentation mask. The second proposed algorithm aims at multi-target tracking and uses motion vectors to assign blocks to targets employing five features. The weights of these features are adapted based on the interaction between targets. These algorithms are combined in one complete analysis application. The performance of this application for target detection has been evaluated for the i-LIDS sterile zone dataset and achieves an F1-score of 0.40-0.69. The performance of the analysis algorithm for multi-target tracking has been evaluated using the CAVIAR dataset and achieves an MOTP of around 9.7 and MOTA of 0.17-0.25. On a selection of targets in videos from other datasets, the achieved MOTP and MOTA are 8.8-10.5 and 0.32-0.49 respectively. The execution time on a PC-based platform is 36 ms. This includes the 20 ms for generating motion vectors, which are also required by the video encoder.

Improving 4D plan quality for PBS-based liver tumour treatments by combining online image guided beam gating with rescanning

NASA Astrophysics Data System (ADS)

Zhang, Ye; Knopf, Antje-Christin; Weber, Damien Charles; Lomax, Antony John

2015-10-01

Pencil beam scanned (PBS) proton therapy has many advantages over conventional radiotherapy, but its effectiveness for treating mobile tumours remains questionable. Gating dose delivery to the breathing pattern is a well-developed method in conventional radiotherapy for mitigating tumour-motion, but its clinical efficiency for PBS proton therapy is not yet well documented. In this study, the dosimetric benefits and the treatment efficiency of beam gating for PBS proton therapy has been comprehensively evaluated. A series of dedicated 4D dose calculations (4DDC) have been performed on 9 different 4DCT(MRI) liver data sets, which give realistic 4DCT extracting motion information from 4DMRI. The value of 4DCT(MRI) is its capability of providing not only patient geometries and deformable breathing characteristics, but also includes variations in the breathing patterns between breathing cycles. In order to monitor target motion and derive a gating signal, we simulate time-resolved beams’ eye view (BEV) x-ray images as an online motion surrogate. 4DDCs have been performed using three amplitude-based gating window sizes (10/5/3 mm) with motion surrogates derived from either pre-implanted fiducial markers or the diaphragm. In addition, gating has also been simulated in combination with up to 19 times rescanning using either volumetric or layered approaches. The quality of the resulting 4DDC plans has been quantified in terms of the plan homogeneity index (HI), total treatment time and duty cycle. Results show that neither beam gating nor rescanning alone can fully retrieve the plan homogeneity of the static reference plan. Especially for variable breathing patterns, reductions of the effective duty cycle to as low as 10% have been observed with the smallest gating rescanning window (3 mm), implying that gating on its own for such cases would result in much longer treatment times. In addition, when rescanning is applied on its own, large differences between volumetric and layered rescanning have been observed as a function of increasing number of re-scans. However, once gating and rescanning is combined, HI to within 2% of the static plan could be achieved in the clinical target volume, with only moderately prolonged treatment times, irrespective of the rescanning strategy used. Moreover, these results are independent of the motion surrogate used. In conclusion, our results suggest image guided beam gating, combined with rescanning, is a feasible, effective and efficient motion mitigation approach for PBS-based liver tumour treatments.

Motion mechanics of non-adherent giant liposomes with a combined optical and atomic force microscope

NASA Astrophysics Data System (ADS)

Moreno-Flores, Susana; Ortíz, Rocío

2017-11-01

Herein we present an investigation of the motional dynamics of single mesoscopic bodies of biological relevance with an AFM-based macromanipulation tool and an optical microscope. Giant liposomes are prominent case examples as minimal cell models; studying their mechanics provides a means to address the influence of structural components in the mechanical behaviour of living cells. However, they also pose an experimental challenge due to their lightness, fragility, and high mobility. Their entrapment in wells in a fluid of lower density allows their study under conditions of constrained motion, which enables the synchronous measurement of nanoforces with motion tracking. The procedure enables to estimate sliding friction coefficients and masses of vesicles, and sheds light upon the region between the vesicle and the underlying substrate. The present study paves the way for the investigation of motion and deformation mechanics with one combined technique and a single type of experiment traditionally vetoed to objects that can move as well as deform. Such an approach can be directly applied to cells in suspension, adherent cells or cellular 3D-assemblies so as to assess substrate biocompatibility, monitor adhesion, detachment, motility as well as deformability.

Seismic evidence for convection-driven motion of the North American plate.

PubMed

Eaton, David W; Frederiksen, Andrew

2007-03-22

Since the discovery of plate tectonics, the relative importance of driving forces of plate motion has been debated. Resolution of this issue has been hindered by uncertainties in estimates of basal traction, which controls the coupling between lithospheric plates and underlying mantle convection. Hotspot tracks preserve records of past plate motion and provide markers with which the relative motion between a plate's surface and underlying mantle regions may be examined. Here we show that the 115-140-Myr surface expression of the Great Meteor hotspot track in eastern North America is misaligned with respect to its location at 200 km depth, as inferred from plate-reconstruction models and seismic tomographic studies. The misalignment increases with age and is consistent with westward displacement of the base of the plate relative to its surface, at an average rate of 3.8 +/- 1.8 mm yr(-1). Here age-constrained 'piercing points' have enabled direct estimation of relative motion between the surface and underside of a plate. The relative displacement of the base is approximately parallel to seismic fast axes and calculated mantle flow, suggesting that asthenospheric flow may be deforming the lithospheric keel and exerting a driving force on this part of the North American plate.

Geminga's tails: a pulsar bow shock probing the interstellar medium.

PubMed

Caraveo, P A; Bignami, G F; DeLuca, A; Mereghetti, S; Pellizzoni, A; Mignani, R; Tur, A; Becker, W

2003-09-05

We report the X-ray Multimirror Mission-Newton European Photon Imaging Camera observation of two elongated parallel x-ray tails trailing the pulsar Geminga. They are aligned with the object's supersonic motion, extend for approximately 2', and have a nonthermal spectrum produced by electron-synchrotron emission in the bow shock between the pulsar wind and the surrounding medium. Electron lifetime against synchrotron cooling matches the source transit time over the x-ray features' length. Such an x-ray detection of a pulsar bow shock (with no Halpha emission) allows us to gauge the pulsar electron injection energy and the shock magnetic field while constraining the angle of Geminga's motion and the local matter density.

Two-point motional Stark effect diagnostic for Madison Symmetric Torus

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ko, J.; Den Hartog, D. J.; Caspary, K. J.

2010-10-15

A high-precision spectral motional Stark effect (MSE) diagnostic provides internal magnetic field measurements for Madison Symmetric Torus (MST) plasmas. Currently, MST uses two spatial views - on the magnetic axis and on the midminor (off-axis) radius, the latter added recently. A new analysis scheme has been developed to infer both the pitch angle and the magnitude of the magnetic field from MSE spectra. Systematic errors are reduced by using atomic data from atomic data and analysis structure in the fit. Reconstructed current density and safety factor profiles are more strongly and globally constrained with the addition of the off-axis radiusmore » measurement than with the on-axis one only.« less

Emergent self-regulatory activity among young children during scientific inquiry: An analysis of six kindergarten children

NASA Astrophysics Data System (ADS)

Lomangino, Adrienne Gelpi

2000-10-01

This qualitative investigation extends the study of self-regulation to examine young children's developing self-regulated learning competencies. The framework for this research draws upon social cognitive, developmental, and sociocultural perspectives on self-regulation and research on children's scientific thinking. Taking a multiple case study approach, this study examines six kindergarten children's emerging self-regulatory competencies during inquiry-based science instruction. Data were collected during two inquiry-based science programs of study, one pertaining to light and shadow and a second pertaining to motion on inclined planes. Data sources included: videotaped records of the instruction, transcriptions of the videotapes, interviews with the children and teacher, student work, and field notes. Taking an inductive approach to analysis, patterns in the children's activity were identified through a recursive process of defining and refining categories that characterized the children's verbal and behavioral activity. Each case study examines a child's behavior within each phase of the inquiry for evidence of emerging self-regulatory competence. Analysis revealed nascent forms of goal-setting and planning, monitoring, resource management, seeking social assistance, and evaluating. Monitoring activity occurred more frequently than planning or evaluating. For several children, animating materials served to promote motivation. Children's efforts to support peers' activity and monitor the meaning of ongoing discourse contrast with common assumptions about children's attention to others' thinking. Variations in self-regulatory activity were found across phases of instruction. The children exhibited interpersonal self-regulatory efforts, in which monitoring and control of the self was entwined with the activity of others. Joint participation also played a critical role in supporting the metacognitive demands of self-regulation and prompting metacognitive awareness. However, planning and self-evaluation were constrained by the opportunities provided within the instruction for engaging in self-regulatory activity.

Creating a Lunar EVA Work Envelope

NASA Technical Reports Server (NTRS)

Griffin, Brand N.; Howard, Robert; Rajulu, Sudhakar; Smitherman, David

2009-01-01

A work envelope has been defined for weightless Extravehicular Activity (EVA) based on the Space Shuttle Extravehicular Mobility Unit (EMU), but there is no equivalent for planetary operations. The weightless work envelope is essential for planning all EVA tasks because it determines the location of removable parts, making sure they are within reach and visibility of the suited crew member. In addition, using the envelope positions the structural hard points for foot restraints that allow placing both hands on the job and provides a load path for reacting forces. EVA operations are always constrained by time. Tasks are carefully planned to ensure the crew has enough breathing oxygen, cooling water, and battery power. Planning first involves computers using a virtual work envelope to model tasks, next suited crew members in a simulated environment refine the tasks. For weightless operations, this process is well developed, but planetary EVA is different and no work envelope has been defined. The primary difference between weightless and planetary work envelopes is gravity. It influences anthropometry, horizontal and vertical mobility, and reaction load paths and introduces effort into doing "overhead" work. Additionally, the use of spacesuits other than the EMU, and their impacts on range of motion, must be taken into account. This paper presents the analysis leading to a concept for a planetary EVA work envelope with emphasis on lunar operations. There is some urgency in creating this concept because NASA has begun building and testing development hardware for the lunar surface, including rovers, habitats and cargo off-loading equipment. Just as with microgravity operations, a lunar EVA work envelope is needed to guide designers in the formative stages of the program with the objective of avoiding difficult and costly rework.

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tseng, Chia-Lin; Department of Radiation Oncology, Princess Margaret Cancer Centre, University of Toronto, Toronto, Ontario; Sussman, Marshall S.

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 motionmore » (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 support the importance of controlling bulk patient motion and the practice of applying a planning organ-at-risk margin.« less

Offline multiple adaptive planning strategy for concurrent irradiation of the prostate and pelvic lymph nodes

DOE Office of Scientific and Technical Information (OSTI.GOV)

Qi, Peng; Xia, Ping, E-mail: xiap@ccf.org; Pouliot, Jean

2014-02-15

Purpose: Concurrent irradiation of the prostate and pelvic lymph nodes (PLNs) can be challenging due to the independent motion of the two target volumes. To address this challenge, the authors have proposed a strategy referred to as Multiple Adaptive Planning (MAP). To minimize the number of MAP plans, the authors’ previous work only considered the prostate motion in one major direction. After analyzing the pattern of the prostate motion, the authors investigated a practical number of intensity-modulated radiotherapy (IMRT) plans needed to accommodate the prostate motion in two major directions simultaneously. Methods: Six patients, who received concurrent irradiation of themore » prostate and PLNs, were selected for this study. Nine MAP-IMRT plans were created for each patient with nine prostate contours that represented the prostate at nine locations with respect to the PLNs, including the original prostate contour and eight contours shifted either 5 mm in a single anterior-posterior (A-P), or superior-inferior (S-I) direction, or 5 mm in both A-P and S-I directions simultaneously. From archived megavoltage cone beam CT (MV-CBCT) and a dual imaging registration, 17 MV-CBCTs from 33 available MV-CBCT from these patients showed large prostate displacements (>3 mm in any direction) with respect to the pelvic bones. For each of these 17 fractions, one of nine MAP-IMRT plans was retrospectively selected and applied to the MV-CBCT for dose calculation. For comparison, a simulated isocenter-shifting plan and a reoptimized plan were also created for each of these 17 fractions. The doses to 95% (D95) of the prostate and PLNs, and the doses to 5% (D5) of the rectum and bladder were calculated and analyzed. Results: For the prostate, D95 > 97% of the prescription dose was observed in 16, 16, and 17 of 17 fractions for the MAP, isocenter-shifted, and reoptimized plans, respectively. For PLNs, D95 > 97% of the prescription doses was observed in 10, 3, and 17 of 17 fractions for the three types of verification plans, respectively. The D5 (mean ± SD) of the rectum was 45.78 ± 5.75, 45.44 ± 4.64, and 44.64 ± 2.71 Gy, and the D5 (mean ± SD) of the bladder was 45.18 ± 2.70, 46.91 ± 3.04, and 45.67 ± 3.61 Gy for three types of verification plans, respectively. Conclusions: The MAP strategy with nine IMRT plans to accommodate the prostate motions in two major directions achieved good dose coverage to the prostate and PLNs. The MAP approach can be immediately used in clinical practice without requiring extra hardware and software.« less

An Algorithmic, Pie-Crusting Medial Soft Tissue Release Reduces the Need for Constrained Inserts Patients With Severe Varus Deformity Undergoing Total Knee Arthroplasty.

PubMed

Goudarz Mehdikhani, Kaveh; Morales Moreno, Beatriz; Reid, Jeremy J; de Paz Nieves, Ana; Lee, Yuo-Yu; González Della Valle, Alejandro

2016-07-01

We studied the need to use a constrained insert for residual intraoperative instability and the 1-year result of patients undergoing total knee arthroplasty (TKA) for a varus deformity. In a control group, a "classic" subperiosteal release of the medial soft tissue sleeve was performed as popularized by pioneers of TKA. In the study group, an algorithmic approach that selectively releases and pie-crusts posteromedial structures in extension and anteromedial structures in flexion was used. All surgeries were performed by a single surgeon using measured resection technique, and posterior-stabilized, cemented implants. There were 228 TKAs in the control group and 188 in the study group. Outcome variables included the use of a constrained insert, and the Knee Society Score at 6 weeks, 4 months, and 1 year postoperatively. The effect of the release technique on use of constrained inserts and clinical outcomes were analyzed in a multivariate model controlling for age, sex, body mass index, and severity of deformity. The use of constrained inserts was significantly lower in study than in control patients (8% vs 18%; P = .002). There was no difference in the Knee Society Score and range of motion between the groups at last follow-up. No patient developed postoperative medial instability. This algorithmic, pie-crusting release technique resulted in a significant reduction in the use of constrained inserts with no detrimental effects in clinical results, joint function, and stability. As constrained TKA implants are more costly than nonconstrained ones, if the adopted technique proves to be safe in the long term, it may cause a positive shift in value for hospitals and cost savings in the health care system. Copyright © 2016 Elsevier Inc. All rights reserved.

Validation results of specifications for motion control interoperability

NASA Astrophysics Data System (ADS)

Szabo, Sandor; Proctor, Frederick M.

1997-01-01

The National Institute of Standards and Technology (NIST) is participating in the Department of Energy Technologies Enabling Agile Manufacturing (TEAM) program to establish interface standards for machine tool, robot, and coordinate measuring machine controllers. At NIST, the focus is to validate potential application programming interfaces (APIs) that make it possible to exchange machine controller components with a minimal impact on the rest of the system. This validation is taking place in the enhanced machine controller (EMC) consortium and is in cooperation with users and vendors of motion control equipment. An area of interest is motion control, including closed-loop control of individual axes and coordinated path planning. Initial tests of the motion control APIs are complete. The APIs were implemented on two commercial motion control boards that run on two different machine tools. The results for a baseline set of APIs look promising, but several issues were raised. These include resolving differing approaches in how motions are programmed and defining a standard measurement of performance for motion control. This paper starts with a summary of the process used in developing a set of specifications for motion control interoperability. Next, the EMC architecture and its classification of motion control APIs into two classes, Servo Control and Trajectory Planning, are reviewed. Selected APIs are presented to explain the basic functionality and some of the major issues involved in porting the APIs to other motion controllers. The paper concludes with a summary of the main issues and ways to continue the standards process.

Limited Impact of Setup and Range Uncertainties, Breathing Motion, and Interplay Effects in Robustly Optimized Intensity Modulated Proton Therapy for Stage III Non-small Cell Lung Cancer

DOE Office of Scientific and Technical Information (OSTI.GOV)

Inoue, Tatsuya; Widder, Joachim; Dijk, Lisanne V. van

2016-11-01

Purpose: To investigate the impact of setup and range uncertainties, breathing motion, and interplay effects using scanning pencil beams in robustly optimized intensity modulated proton therapy (IMPT) for stage III non-small cell lung cancer (NSCLC). Methods and Materials: Three-field IMPT plans were created using a minimax robust optimization technique for 10 NSCLC patients. The plans accounted for 5- or 7-mm setup errors with ±3% range uncertainties. The robustness of the IMPT nominal plans was evaluated considering (1) isotropic 5-mm setup errors with ±3% range uncertainties; (2) breathing motion; (3) interplay effects; and (4) a combination of items 1 and 2.more » The plans were calculated using 4-dimensional and average intensity projection computed tomography images. The target coverage (TC, volume receiving 95% of prescribed dose) and homogeneity index (D{sub 2} − D{sub 98}, where D{sub 2} and D{sub 98} are the least doses received by 2% and 98% of the volume) for the internal clinical target volume, and dose indexes for lung, esophagus, heart and spinal cord were compared with that of clinical volumetric modulated arc therapy plans. Results: The TC and homogeneity index for all plans were within clinical limits when considering the breathing motion and interplay effects independently. The setup and range uncertainties had a larger effect when considering their combined effect. The TC decreased to <98% (clinical threshold) in 3 of 10 patients for robust 5-mm evaluations. However, the TC remained >98% for robust 7-mm evaluations for all patients. The organ at risk dose parameters did not significantly vary between the respective robust 5-mm and robust 7-mm evaluations for the 4 error types. Compared with the volumetric modulated arc therapy plans, the IMPT plans showed better target homogeneity and mean lung and heart dose parameters reduced by about 40% and 60%, respectively. Conclusions: In robustly optimized IMPT for stage III NSCLC, the setup and range uncertainties, breathing motion, and interplay effects have limited impact on target coverage, dose homogeneity, and organ-at-risk dose parameters.« less

SU-E-T-330: Dosimetric Impact of Intrafraction Respiratory Motion On Lung SBRT Treatment Using Cyberknife 0-View Tracking Mode

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rao, M; Chen, F; Cotrutz, C

2015-06-15

Purpose: To investigate the influence of respiratory motion on the delivered dose in lung stereotactic body radiotherapy (SBRT) using Cyberknife (CK) 0-View tracking mode. Methods: CT scans at inspiration and expiration of an anthropomorphic motion phantom were fused base on the spine and an internal target volume (ITV) was created. A 5mm expansion around the ITV resulted in the planning target volume. Three CK plans were generated in Accuray MultiPlan using Lung Optimization Tracking 0-View technique with the minimum MU per beam set to (a) 5MU, (b) 15MU and (c) 30MU, respectively. Doses were calculated on the expiration CT usingmore » Monte-Carlo algorithm. Each plan was delivered 5 times with a range of different starting phases in the respiratory cycle to assess the dose variation due to interplay effect. The delivered dose was measured with EBT3 Gafchromic film which was inserted in the moving target of the phantom. The target motion range is 3 cm in superior-inferior (SI) direction with the breathing period of 5 seconds. Results: The gamma analysis (5%/2mm) of the dose with the films in the transverse plane resulted in average passing rate of 95.5±4.1%, 96.7±2.6%, and 96.2±2.5% for plan (a), (b), and (c), respectively. For the sagittal films, the average passing rate was 91.1±4.9%, 92.1±3.6%, and 92.3±2.9% for the three plans, respectively. The disagreement between measurement and dose calculations were mostly on the target edges in SI direction. The mean measured versus calculated dose differences at the edge of target in SI direction were (a) 3.9±4.8%, (b) 2.4±3.3%, and (c) 2.2±3.2% for the three plans, respectively. Conclusions: The plans with low-MU beams (below 10MU) tend to cause slightly larger dose variation. However in terms of target coverage, the overall clinical dosimetric impact of the intrafraction respiratory motion in lung SBRT is insignificant when averaged over 3∼5 fractions.« less

Planning applications in image analysis

NASA Technical Reports Server (NTRS)

Boddy, Mark; White, Jim; Goldman, Robert; Short, Nick, Jr.

1994-01-01

We describe two interim results from an ongoing effort to automate the acquisition, analysis, archiving, and distribution of satellite earth science data. Both results are applications of Artificial Intelligence planning research to the automatic generation of processing steps for image analysis tasks. First, we have constructed a linear conditional planner (CPed), used to generate conditional processing plans. Second, we have extended an existing hierarchical planning system to make use of durations, resources, and deadlines, thus supporting the automatic generation of processing steps in time and resource-constrained environments.

Spin relaxation of radicals in cryptochrome and its role in avian magnetoreception

DOE Office of Scientific and Technical Information (OSTI.GOV)

Worster, Susannah; Kattnig, Daniel R.; Hore, P. J., E-mail: peter.hore@chem.ox.ac.uk

2016-07-21

Long-lived spin coherence and rotationally ordered radical pairs have previously been identified as key requirements for the radical pair mechanism of the avian magnetic compass sense. Both criteria are hard to meet in a biological environment, where thermal motion of the radicals creates dynamic disorder and drives efficient spin relaxation. This has long been cited as a major stumbling block of the radical pair hypothesis. Here we combine Redfield relaxation theory with analytical solutions to a rotational diffusion equation to assess the impact of restricted rotational motion of the radicals on the operation of the compass. The effects of suchmore » motions are first investigated generally in small, model systems and are then critically examined in the magnetically sensitive flavin-tryptophan radical pair that is formed photochemically in the proposed magnetoreceptor protein, cryptochrome. We conclude that relaxation is slowest when rotational motion of the radicals within the protein is fast and highly constrained; that in a regime of slow relaxation, the motional averaging of hyperfine interactions has the potential to improve the sensitivity of the compass; and that consideration of motional effects can significantly alter the design criteria for an optimal compass. In addition, we demonstrate that motion of the flavin radical is likely to be compatible with its role as a component of a functioning radical-pair compass, whereas the motion of the tryptophan radical is less ideal, unless it is particularly fast.« less

Sliding pressure control valve for pneumatic hammer drill

DOEpatents

Polsky, Yarom [Albuquerque, NM

2011-08-30

A pneumatic device control apparatus and method comprising a ported valve slidably fitted over a feed tube of the pneumatic device, and using a compliant biasing device to constrain motion of the valve to provide asymmetric timing for extended pressurization of a power chamber and reduced pressurization of a return chamber of the pneumatic device. The pneumatic device can be a pneumatic hammer drill.

Joint Data Management for MOVINT Data-to-Decision Making

DTIC Science & Technology

2011-07-01

flux tensor , aligned motion history images, and related approaches have been shown to be versatile approaches [12, 16, 17, 18]. Scaling these...methods include voting , neural networks, fuzzy logic, neuro-dynamic programming, support vector machines, Bayesian and Dempster-Shafer methods. One way...Information Fusion, 2010. [16] F. Bunyak, K. Palaniappan, S. K. Nath, G. Seetharaman, “Flux tensor constrained geodesic active contours with sensor fusion

ATHLETE's Feet: Mu1ti-Resolution Planning for a Hexapod Robot

NASA Technical Reports Server (NTRS)

Smith, Tristan B.; Barreiro, Javier; Smith, David E.; SunSpiral, Vytas; Chavez-Clemente, Daniel

2008-01-01

ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently with a single command, any motion involving steps is cumbersome - walking a few meters through difficult terrain can take hours. Our goal is to improve operator efficiency by automatically generating sequences of motion commands. There is increasing uncertainty regarding ATHLETE s actual configuration over time and decreasing quality of terrain data farther away from the current position. This, combined with the complexity that results from 36 degrees of kinematic freedom, led to an architecture that interleaves planning and execution at multiple levels, ranging from traditional configuration space motion planning algorithms for immediate moves to higher level task and path planning algorithms for overall travel. The modularity of the architecture also simplifies the development process and allows the operator to interact with and control the system at varying levels of autonomy depending on terrain and need.

Application of constrained k-means clustering in ground motion simulation validation

NASA Astrophysics Data System (ADS)

Khoshnevis, N.; Taborda, R.

2017-12-01

The validation of ground motion synthetics has received increased attention over the last few years due to the advances in physics-based deterministic and hybrid simulation methods. Unlike for low frequency simulations (f ≤ 0.5 Hz), for which it has become reasonable to expect a good match between synthetics and data, in the case of high-frequency simulations (f ≥ 1 Hz) it is not possible to match results on a wiggle-by-wiggle basis. This is mostly due to the various complexities and uncertainties involved in earthquake ground motion modeling. Therefore, in order to compare synthetics with data we turn to different time series metrics, which are used as a means to characterize how the synthetics match the data on qualitative and statistical sense. In general, these metrics provide GOF scores that measure the level of similarity in the time and frequency domains. It is common for these scores to be scaled from 0 to 10, with 10 representing a perfect match. Although using individual metrics for particular applications is considered more adequate, there is no consensus or a unified method to classify the comparison between a set of synthetic and recorded seismograms when the various metrics offer different scores. We study the relationship among these metrics through a constrained k-means clustering approach. We define 4 hypothetical stations with scores 3, 5, 7, and 9 for all metrics. We put these stations in the category of cannot-link constraints. We generate the dataset through the validation of the results from a deterministic (physics-based) ground motion simulation for a moderate magnitude earthquake in the greater Los Angeles basin using three velocity models. The maximum frequency of the simulation is 4 Hz. The dataset involves over 300 stations and 11 metrics, or features, as they are understood in the clustering process, where the metrics form a multi-dimensional space. We address the high-dimensional feature effects with a subspace-clustering analysis, generate a final labeled dataset of stations, and discuss the within-class statistical characteristics of each metric. Labeling these stations is the first step towards developing a unified metric to evaluate ground motion simulations in an application-independent manner.

Using Global Plate Velocity Boundary Conditions for Embedded Regional Geodynamic Models

NASA Astrophysics Data System (ADS)

Taramon Gomez, Jorge; Morgan, Jason; Perez-Gussinye, Marta

2015-04-01

The treatment of far-field boundary conditions is one of the most poorly resolved issues for regional modeling of geodynamic processes. In viscous flow, the choice of far-field boundary conditions often strongly shapes the large-scale structure of a geosimulation. The mantle velocity field along the sidewalls and base of a modeling region is typically much more poorly known than the geometry of past global motions of the surface plates as constrained by global plate motion reconstructions. For regional rifting models it has become routine to apply highly simplified 'plate spreading' or 'uniform rifting' boundary conditions to a 3-D model that limits its ability to simulate the geodynamic evolution of a specific rifted margin. One way researchers are exploring the sensitivity of regional models to uncertain boundary conditions is to use a nested modeling approach in which a global model is used to determine a large-scale flow pattern that is imposed as a constraint along the boundaries of the region to be modeled. Here we explore the utility of a different approach that takes advantage of the ability of finite element models to use unstructured meshes than can embed much higher resolution sub-regions within a spherical global mesh. In our initial project to validate this approach, we create a global spherical mesh in which a higher resolution sub-region is created around the nascent South Atlantic Rifting Margin. Global Plate motion BCs and plate boundaries are applied for the time of the onset of rifting, continuing through several 10s of Ma of rifting. Thermal, compositional, and melt-related buoyancy forces are only non-zero within the high-resolution subregion, elsewhere, motions are constrained by surface plate-motion constraints. The total number of unknowns needed to solve an embedded regional model with this approach is less than 1/3 larger than that needed for a structured-mesh solution on a Cartesian or spherical cap sub-regional mesh. Here we illustrate the initial steps within this workflow for creating time-varying surface boundary conditions (using GPlates), and a time-variable unstructured 3-D spherical mesh.

Spatially constrained incoherent motion method improves diffusion-weighted MRI signal decay analysis in the liver and spleen

PubMed Central

Taimouri, Vahid; Afacan, Onur; Perez-Rossello, Jeannette M.; Callahan, Michael J.; Mulkern, Robert V.; Warfield, Simon K.; Freiman, Moti

2015-01-01

Purpose: To evaluate the effect of the spatially constrained incoherent motion (SCIM) method on improving the precision and robustness of fast and slow diffusion parameter estimates from diffusion-weighted MRI in liver and spleen in comparison to the independent voxel-wise intravoxel incoherent motion (IVIM) model. Methods: We collected diffusion-weighted MRI (DW-MRI) data of 29 subjects (5 healthy subjects and 24 patients with Crohn’s disease in the ileum). We evaluated parameters estimates’ robustness against different combinations of b-values (i.e., 4 b-values and 7 b-values) by comparing the variance of the estimates obtained with the SCIM and the independent voxel-wise IVIM model. We also evaluated the improvement in the precision of parameter estimates by comparing the coefficient of variation (CV) of the SCIM parameter estimates to that of the IVIM. Results: The SCIM method was more robust compared to IVIM (up to 70% in liver and spleen) for different combinations of b-values. Also, the CV values of the parameter estimations using the SCIM method were significantly lower compared to repeated acquisition and signal averaging estimated using IVIM, especially for the fast diffusion parameter in liver (CVIV IM = 46.61 ± 11.22, CVSCIM = 16.85 ± 2.160, p < 0.001) and spleen (CVIV IM = 95.15 ± 19.82, CVSCIM = 52.55 ± 1.91, p < 0.001). Conclusions: The SCIM method characterizes fast and slow diffusion more precisely compared to the independent voxel-wise IVIM model fitting in the liver and spleen. PMID:25832079

Symmetry Motion Classes; Cambridge Conference on School Mathematics Feasibility Study No. 40.

ERIC Educational Resources Information Center

McLane, Lyn

These materials were written with the aim of reflecting the thinking of The Cambridge Conference on School Mathematics (CCSM) regarding the goals and objectives for school mathematics. This document details the planning and response for each of ten lessons involving symmetry motions. The problems focused on (1) combining motions in a given order,…

76 FR 20652 - Idaho Power Company; Notice of Application of Land Management Plan Update for the Bliss, Upper...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-04-13

... Salmon Falls, and Lower Salmon Falls Projects and Soliciting Comments, Motions To Intervene, and Protests..., motions to intervene, and protests: May 6, 2011. All documents may be filed electronically via the... the project numbers (P-1975-109, P-2777-115, and P- 2061-088) on any comments, motions, or...

Correspondence model-based 4D VMAT dose simulation for analysis of local metastasis recurrence after extracranial SBRT

NASA Astrophysics Data System (ADS)

Sothmann, T.; Gauer, T.; Wilms, M.; Werner, R.

2017-12-01

The purpose of this study is to introduce a novel approach to incorporate patient-specific breathing variability information into 4D dose simulation of volumetric arc therapy (VMAT)-based stereotactic body radiotherapy (SBRT) of extracranial metastases. Feasibility of the approach is illustrated by application to treatment planning and motion data of lung and liver metastasis patients. The novel 4D dose simulation approach makes use of a regression-based correspondence model that allows representing patient motion variability by breathing signal-steered interpolation and extrapolation of deformable image registration motion fields. To predict the internal patient motion during treatment with only external breathing signal measurements being available, the patients’ internal motion information and external breathing signals acquired during 4D CT imaging were correlated. Combining the correspondence model, patient-specific breathing signal measurements during treatment and time-resolved information about dose delivery, reconstruction of a motion variability-affected dose becomes possible. As a proof of concept, the proposed approach is illustrated by a retrospective 4D simulation of VMAT-based SBRT treatment of ten patients with 15 treated lung and liver metastases and known clinical endpoints for the individual metastases (local metastasis recurrence yes/no). Resulting 4D-simulated dose distributions were compared to motion-affected dose distributions estimated by standard 4D CT-only dose accumulation and the originally (i.e. statically) planned dose distributions by means of GTV D98 indices (dose to 98% of the GTV volume). A potential linkage of metastasis-specific endpoints to differences between GTV D98 indices of planned and 4D-simulated dose distributions was analyzed.

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

PubMed

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

2013-03-15

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

Unsteady Adjoint Approach for Design Optimization of Flapping Airfoils

NASA Technical Reports Server (NTRS)

Lee, Byung Joon; Liou, Meng-Sing

2012-01-01

This paper describes the work for optimizing the propulsive efficiency of flapping airfoils, i.e., improving the thrust under constraining aerodynamic work during the flapping flights by changing their shape and trajectory of motion with the unsteady discrete adjoint approach. For unsteady problems, it is essential to properly resolving time scales of motion under consideration and it must be compatible with the objective sought after. We include both the instantaneous and time-averaged (periodic) formulations in this study. For the design optimization with shape parameters or motion parameters, the time-averaged objective function is found to be more useful, while the instantaneous one is more suitable for flow control. The instantaneous objective function is operationally straightforward. On the other hand, the time-averaged objective function requires additional steps in the adjoint approach; the unsteady discrete adjoint equations for a periodic flow must be reformulated and the corresponding system of equations solved iteratively. We compare the design results from shape and trajectory optimizations and investigate the physical relevance of design variables to the flapping motion at on- and off-design conditions.

Rectified brownian transport in corrugated channels: Fractional brownian motion and Lévy flights.

PubMed

Ai, Bao-quan; Shao, Zhi-gang; Zhong, Wei-rong

2012-11-07

We study fractional brownian motion and Lévy flights in periodic corrugated channels without any external driving forces. From numerical simulations, we find that both fractional gaussian noise and Lévy-stable noise in asymmetric corrugated channels can break thermodynamical equilibrium and induce directed transport. The rectified mechanisms for fractional brownian motion and Lévy flights are different. The former is caused by non-uniform spectral distribution (low or high frequencies) of fractional gaussian noise, while the latter is due to the nonthermal character (occasional long jumps) of the Lévy-stable noise. For fractional brownian motion, average velocity increases with the Hurst exponent for the persistent case, while for the antipersistent case there exists an optimal value of Hurst exponent at which average velocity takes its maximal value. For Lévy flights, the group velocity decreases monotonically as the Lévy index increases. In addition, for both cases, the optimized periodicity and radius at the bottleneck can facilitate the directed transport. Our results could be implemented in constrained structures with narrow channels and pores where the particles undergo anomalous diffusion.

Relativistic electron motion in cylindrical waveguide with strong guiding magnetic field and high power microwave

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wu, Ping; Science and Technology on High Power Microwave Laboratory, Northwest Institute of Nuclear Technology, Xi'an 710024; Sun, Jun

2015-06-15

In O-type high power microwave (HPM) devices, the annular relativistic electron beam is constrained by a strong guiding magnetic field and propagates through an interaction region to generate HPM. Some papers believe that the E × B drift of electrons may lead to beam breakup. This paper simplifies the interaction region with a smooth cylindrical waveguide to research the radial motion of electrons under conditions of strong guiding magnetic field and TM{sub 01} mode HPM. The single-particle trajectory shows that the radial electron motion presents the characteristic of radial guiding-center drift carrying cyclotron motion. The radial guiding-center drift is spatiallymore » periodic and is dominated by the polarization drift, not the E × B drift. Furthermore, the self fields of the beam space charge can provide a radial force which may pull electrons outward to some extent but will not affect the radial polarization drift. Despite the radial drift, the strong guiding magnetic field limits the drift amplitude to a small value and prevents beam breakup from happening due to this cause.« less

Anomalous diffusion of brain metabolites evidenced by diffusion-weighted magnetic resonance spectroscopy in vivo

PubMed Central

Marchadour, Charlotte; Brouillet, Emmanuel; Hantraye, Philippe; Lebon, Vincent; Valette, Julien

2012-01-01

Translational displacement of molecules within cells is a key process in cellular biology. Molecular motion potentially depends on many factors, including active transport, cytosol viscosity and molecular crowding, tortuosity resulting from cytoskeleton and organelles, and restriction barriers. However, the relative contribution of these factors to molecular motion in the cytoplasm remains poorly understood. In this work, we designed an original diffusion-weighted magnetic resonance spectroscopy strategy to probe molecular motion at subcellular scales in vivo. This led to the first observation of anomalous diffusion, that is, dependence of the apparent diffusion coefficient (ADC) on the diffusion time, for endogenous intracellular metabolites in the brain. The observed increase of the ADC at short diffusion time yields evidence that metabolite motion is characteristic of hindered random diffusion rather than active transport, for time scales up to the dozen milliseconds. Armed with this knowledge, data modeling based on geometrically constrained diffusion was performed. Results suggest that metabolite diffusion occurs in a low-viscosity cytosol hindered by ∼2-μm structures, which is consistent with known intracellular organization. PMID:22929443

One map policy (OMP) implementation strategy to accelerate mapping of regional spatial planing (RTRW) in Indonesia

NASA Astrophysics Data System (ADS)

Hasyim, Fuad; Subagio, Habib; Darmawan, Mulyanto

2016-06-01

A preparation of spatial planning documents require basic geospatial information and thematic accuracies. Recently these issues become important because spatial planning maps are impartial attachment of the regional act draft on spatial planning (PERDA). The needs of geospatial information in the preparation of spatial planning maps preparation can be divided into two major groups: (i). basic geospatial information (IGD), consist of of Indonesia Topographic maps (RBI), coastal and marine environmental maps (LPI), and geodetic control network and (ii). Thematic Geospatial Information (IGT). Currently, mostly local goverment in Indonesia have not finished their regulation draft on spatial planning due to some constrain including technical aspect. Some constrain in mapping of spatial planning are as follows: the availability of large scale ofbasic geospatial information, the availability of mapping guidelines, and human resources. Ideal conditions to be achieved for spatial planning maps are: (i) the availability of updated geospatial information in accordance with the scale needed for spatial planning maps, (ii) the guideline of mapping for spatial planning to support local government in completion their PERDA, and (iii) capacity building of local goverment human resources to completed spatial planning maps. The OMP strategies formulated to achieve these conditions are: (i) accelerating of IGD at scale of 1:50,000, 1: 25,000 and 1: 5,000, (ii) to accelerate mapping and integration of Thematic Geospatial Information (IGT) through stocktaking availability and mapping guidelines, (iii) the development of mapping guidelines and dissemination of spatial utilization and (iv) training of human resource on mapping technology.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Barack, Leor; Cutler, Curt; Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California 91109

Inspirals of stellar-mass compact objects (COs) into {approx}10{sup 6}M{sub {center_dot}} black holes are especially interesting sources of gravitational waves for the planned Laser Interferometer Space Antenna (LISA). The orbits of these extreme-mass-ratio inspirals (EMRIs) are highly relativistic, displaying extreme versions of both perihelion precession and Lense-Thirring precession of the orbital plane. We investigate the question of whether the emitted waveforms can be used to strongly constrain the geometry of the central massive object, and in essence check that it corresponds to a Kerr black hole (BH). For a Kerr BH, all multipole moments of the spacetime have a simple, uniquemore » relation to M and S, the BH mass, and spin; in particular, the spacetime's mass quadrupole moment Q is given by Q=-S{sup 2}/M. Here we treat Q as an additional parameter, independent of S and M, and ask how well observation can constrain its difference from the Kerr value. This was already estimated by Ryan, but for the simplified case of circular, equatorial orbits, and Ryan also neglected the signal modulations arising from the motion of the LISA satellites. We consider generic orbits and include the modulations due to the satellite motions. For this analysis, we use a family of approximate (basically post-Newtonian) waveforms, which represent the full parameter space of EMRI sources, and which exhibit the main qualitative features of true, general relativistic waveforms. We extend this parameter space to include (in an approximate manner) an arbitrary value of Q, and then construct the Fisher information matrix for the extended parameter space. By inverting the Fisher matrix, we estimate how accurately Q could be extracted from LISA observations of EMRIs. For 1 yr of coherent data from the inspiral of a 10M{sub {center_dot}} black hole into rotating black holes of masses 10{sup 5.5}M{sub {center_dot}}, 10{sup 6}M{sub {center_dot}}, or 10{sup 6.5}M{sub {center_dot}}, we find {delta}(Q/M{sup 3}){approx}10{sup -4}, 10{sup -3}, or 10{sup -2}, respectively (assuming total signal-to-noise ratio of 100, typical of the brightest detectable EMRIs). These results depend only weakly on the eccentricity of the inspiral orbit or the spin of the central object.« less

Revised East-West Antarctic plate motions since the Middle Eocene

NASA Astrophysics Data System (ADS)

Granot, R.; Cande, S. C.; Stock, J.; Damaske, D.

2010-12-01

The middle Cenozoic (43-26 Ma) rifting between East and West Antarctica is defined by an episode of ultraslow seafloor spreading in the Adare Basin, located off northwestern Ross Sea. The absence of fracture zones and the lack of sufficient well-located magnetic anomaly picks have resulted in a poorly constrained kinematic model (Cande et al., 2000). Here we utilize the results from a dense aeromagnetic survey (Damaske et al., 2007) collected as part of GANOVEX IX 2005/06 campaign to re-evaluate the kinematics of the West Antarctic rift system since the Middle Eocene. We identify marine magnetic anomalies (anomalies 12o, 13o, 16y, and 18o) along a total of 25,000 km of the GPS navigated magnetic profiles. The continuation of these anomalies into the Northern Basin has allowed us to use the entire N-S length of this dataset in our calculations. A distinct curvature in the orientation of the spreading axis provides a strong constraint on our calculated kinematic models. The results from two- (East-West Antarctica) and three- (Australia-East Antarctica-West Antarctica) plate solutions agree well and create a cluster of rotation axes located south of the rift system, near the South Pole. These solutions reveal that spreading rate and direction, and therefore motion between East and West Antarctica, were steady between the Middle Eocene and Early Oligocene. Our kinematic solutions confirm the results of Davey and De Santis (2005) that the Victoria Land Basin has accommodated ~95 km of extension since the Middle Eocene. This magnetic pattern also provides valuable constraints on the post-spreading deformation of the Adare Basin (Granot et al., 2010). The Adare Basin has accommodated very little extension since the Late Oligocene (<7 km), but motion has probably increased southward. The details of this younger phase of motion are still crudely constrained.

New Revenue Streams and Educational Infrastructure at IUPUI

ERIC Educational Resources Information Center

Sukhatme, Uday

2012-01-01

Dynamic planning, an approach to steadily put in motion some aspects of a strategic plan, even while the rest of the planning is in progress, has been used successfully over the past five years for implementing the IUPUI Academic Plan. The eleven major strategic initiatives that underlie the academic plan have enhanced the research, teaching, and…

SU-E-T-07: 4DCT Robust Optimization for Esophageal Cancer Using Intensity Modulated Proton Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Liao, L; Department of Industrial Engineering, University of Houston, Houston, TX; Yu, J

2015-06-15

Purpose: To develop a 4DCT robust optimization method to reduce the dosimetric impact from respiratory motion in intensity modulated proton therapy (IMPT) for esophageal cancer. Methods: Four esophageal cancer patients were selected for this study. The different phases of CT from a set of 4DCT were incorporated into the worst-case dose distribution robust optimization algorithm. 4DCT robust treatment plans were designed and compared with the conventional non-robust plans. Result doses were calculated on the average and maximum inhale/exhale phases of 4DCT. Dose volume histogram (DVH) band graphic and ΔD95%, ΔD98%, ΔD5%, ΔD2% of CTV between different phases were used tomore » evaluate the robustness of the plans. Results: Compare to the IMPT plans optimized using conventional methods, the 4DCT robust IMPT plans can achieve the same quality in nominal cases, while yield a better robustness to breathing motion. The mean ΔD95%, ΔD98%, ΔD5% and ΔD2% of CTV are 6%, 3.2%, 0.9% and 1% for the robustly optimized plans vs. 16.2%, 11.8%, 1.6% and 3.3% from the conventional non-robust plans. Conclusion: A 4DCT robust optimization method was proposed for esophageal cancer using IMPT. We demonstrate that the 4DCT robust optimization can mitigate the dose deviation caused by the diaphragm motion.« less

Irradiation of the prostate and pelvic lymph nodes with an adaptive algorithm

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hwang, A. B.; Chen, J.; Nguyen, T. B.

2012-02-15

Purpose: The simultaneous treatment of pelvic lymph nodes and the prostate in radiotherapy for prostate cancer is complicated by the independent motion of these two target volumes. In this work, the authors study a method to adapt intensity modulated radiation therapy (IMRT) treatment plans so as to compensate for this motion by adaptively morphing the multileaf collimator apertures and adjusting the segment weights. Methods: The study used CT images, tumor volumes, and normal tissue contours from patients treated in our institution. An IMRT treatment plan was then created using direct aperture optimization to deliver 45 Gy to the pelvic lymphmore » nodes and 50 Gy to the prostate and seminal vesicles. The prostate target volume was then shifted in either the anterior-posterior direction or in the superior-inferior direction. The treatment plan was adapted by adjusting the aperture shapes with or without re-optimizing the segment weighting. The dose to the target volumes was then determined for the adapted plan. Results: Without compensation for prostate motion, 1 cm shifts of the prostate resulted in an average decrease of 14% in D-95%. If the isocenter is simply shifted to match the prostate motion, the prostate receives the correct dose but the pelvic lymph nodes are underdosed by 14% {+-} 6%. The use of adaptive morphing (with or without segment weight optimization) reduces the average change in D-95% to less than 5% for both the pelvic lymph nodes and the prostate. Conclusions: Adaptive morphing with and without segment weight optimization can be used to compensate for the independent motion of the prostate and lymph nodes when combined with daily imaging or other methods to track the prostate motion. This method allows the delivery of the correct dose to both the prostate and lymph nodes with only small changes to the dose delivered to the target volumes.« less

TU-CD-304-01: FEATURED PRESENTATION and BEST IN PHYSICS (THERAPY): Trajectory Modulated Arc Therapy: Development of Novel Arc Delivery Techniques Integrating Dynamic Table Motion for Extended Volume Treatments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chin, E; Hoppe, R; Million, L

2015-06-15

Purpose: Integration of coordinated robotic table motion with inversely-planned arc delivery has the potential to resolve table-top delivery limitations of large-field treatments such as Total Body Irradiation (TBI), Total Lymphoid Irradiation (TLI), and Cranial-Spinal Irradiation (CSI). We formulate the foundation for Trajectory Modulated Arc Therapy (TMAT), and using Varian Developer Mode capabilities, experimentally investigate its practical implementation for such techniques. Methods: A MATLAB algorithm was developed for inverse planning optimization of the table motion, MLC positions, and gantry motion under extended-SSD geometry. To maximize the effective field size, delivery trajectories for TMAT TBI were formed with the table rotated atmore » 270° IEC and dropped vertically to 152.5cm SSD. Preliminary testing of algorithm parameters was done through retrospective planning analysis. Robotic delivery was programmed using custom XML scripting on the TrueBeam Developer Mode platform. Final dose was calculated using the Eclipse AAA algorithm. Initial verification of delivery accuracy was measured using OSLDs on a solid water phantom of varying thickness. Results: A comparison of DVH curves demonstrated that dynamic couch motion irradiation was sufficiently approximated by static control points spaced in intervals of less than 2cm. Optimized MLC motion decreased the average lung dose to 68.5% of the prescription dose. The programmed irradiation integrating coordinated table motion was deliverable on a TrueBeam STx linac in 6.7 min. With the couch translating under an open 10cmx20cm field angled at 10°, OSLD measurements along the midline of a solid water phantom at depths of 3, 5, and 9cm were within 3% of the TPS AAA algorithm with an average deviation of 1.2%. Conclusion: A treatment planning and delivery system for Trajectory Modulated Arc Therapy of extended volumes has been established and experimentally demonstrated for TBI. Extension to other treatment techniques such as TLI and CSI is readily achievable through the developed platform. Grant Funding by Varian Medical Systems.« less

4D dose calculation and delivery with interplay effects between respiratory motion and uniform scanning proton beam

NASA Astrophysics Data System (ADS)

Zhao, Qingya

2011-12-01

Proton radiotherapy has advantages to deliver accurate high conformal radiation dose to the tumor while sparing the surrounding healthy tissue and critical structures. However, the treatment effectiveness is degraded greatly due to patient free breathing during treatment delivery. Motion compensation for proton radiotherapy is especially challenging as proton beam is more sensitive to the density change along the beam path. Tumor respiratory motion during treatment delivery will affect the proton dose distribution and the selection of optimized parameters for treatment planning, which has not been fully addressed yet in the existing approaches for proton dose calculation. The purpose of this dissertation is to develop an approach for more accurate dose delivery to a moving tumor in proton radiotherapy, i.e., 4D proton dose calculation and delivery, for the uniform scanning proton beam. A three-step approach has been carried out to achieve this goal. First, a solution for the proton output factor calculation which will convert the prescribed dose to machine deliverable monitor unit for proton dose delivery has been proposed and implemented. The novel sector integration method is accurate and time saving, which considers the various beam scanning patterns and treatment field parameters, such as aperture shape, aperture size, measuring position, beam range, and beam modulation. Second, tumor respiratory motion behavior has been statistically characterized and the results have been applied to advanced image guided radiation treatment. Different statistical analysis and correlation discovery approaches have been investigated. The internal / external motion correlation patterns have been simulated, analyzed, and applied in a new hybrid gated treatment to improve the target coverage. Third, a dose calculation method has been developed for 4D proton treatment planning which integrates the interplay effects of tumor respiratory motion patterns and proton beam delivery mechanism. These three steps provide an innovative integrated framework for accurate 4D proton dose calculation and treatment planning for a moving tumor, which extends the functionalities of existing 3D planning systems. In short, this dissertation work addresses a few important problems for effective proton radiotherapy to a moving target. The outcomes of the dissertation are very useful for motion compensation with advanced image guided proton treatment.

Calculation and Prediction of the Effect of Respiratory Motion on Whole Breast Radiation Therapy Dose Distributions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cao Junsheng; Roeske, John C.; Chmura, Steve J.

2009-07-01

The standard treatment technique used for whole-breast irradiation can result in undesirable dose distributions in the treatment site, leading to skin reaction/fibrosis and pulmonary and cardiac toxicities. Hence, the technique has evolved from conventional wedged technique (CWT) to segment intensity-modulated radiation therapy (SIMRT) and beamlet IMRT (IMRT). However, these newer techniques feature more highly modulated dose distributions that may be affected by respiration. The purpose of this work was to conduct a simple study of the clinical impact of respiratory motion on breast radiotherapy dose distributions for the three treatment planning techniques. The ultimate goal was to determine which patientsmore » would benefit most from the use of motion management. Eight patients with early-stage breast cancer underwent a free-breathing (FB) computed tomography (CT) simulation, with medial and lateral markers placed on the skin. Two additional CT scans were obtained at the end of inspiration (EI) and the end of expiration (EE). The FB-CT scan was used to develop treatment plans using each technique. Each plan was then applied to EI and EE-CT scans. Compared with the FB CT scan, the medial markers moved up to 1.8 cm in the anterior-superior direction at the end of inspiration (EI-scan), and on average 8 mm. The CWT and SIMRT techniques were not 'sensitive' to respiratory motion, because the % clinical target volume (CTV) receiving 95% of the prescription dose (V{sub 95%}) remained constant for both techniques. For patients that had large respiratory motion indicated by marker movement >0.6 cm, differences in coverage of the CTV at the V100% between FB and EI for beamlet IMRT plans were on the order of >10% and up to 18%. A linear model was developed to relate the dosimetric coverage difference introduced by respiration with the motion information. With this model, the dosimetric coverage difference introduced by respiratory motion could be evaluated during patient CT simulation. An appropriate treatment method can be chosen after the simulation.« less

SU-E-T-163: Evaluation of Dose Distributions Recalculated with Per-Field Measurement Data Under the Condition of Respiratory Motion During IMRT for Liver Cancer

DOE Office of Scientific and Technical Information (OSTI.GOV)

Song, J; Yoon, M; Nam, T

2014-06-01

Purpose: The dose distributions within the real volumes of tumor targets and critical organs during internal target volume-based intensity-modulated radiation therapy (ITV-IMRT) for liver cancer were recalculated by applying the effects of actual respiratory organ motion, and the dosimetric features were analyzed through comparison with gating IMRT (Gate-IMRT) plan results. Methods: The 4DCT data for 10 patients who had been treated with Gate-IMRT for liver cancer were selected to create ITV-IMRT plans. The ITV was created using MIM software, and a moving phantom was used to simulate respiratory motion. The period and range of respiratory motion were recorded in allmore » patients from 4DCT-generated movie data, and the same period and range were applied when operating the dynamic phantom to realize coincident respiratory conditions in each patient. The doses were recalculated with a 3 dose-volume histogram (3DVH) program based on the per-field data measured with a MapCHECK2 2-dimensional diode detector array and compared with the DVHs calculated for the Gate-IMRT plan. Results: Although a sufficient prescription dose covered the PTV during ITV-IMRT delivery, the dose homogeneity in the PTV was inferior to that with the Gate-IMRT plan. We confirmed that there were higher doses to the organs-at-risk (OARs) with ITV-IMRT, as expected when using an enlarged field, but the increased dose to the spinal cord was not significant and the increased doses to the liver and kidney could be considered as minor when the reinforced constraints were applied during IMRT plan optimization. Conclusion: Because Gate-IMRT cannot always be considered an ideal method with which to correct the respiratory motional effect, given the dosimetric variations in the gating system application and the increased treatment time, a prior analysis for optimal IMRT method selection should be performed while considering the patient's respiratory condition and IMRT plan results.« less

SU-F-T-123: The Simulated Effect of the Breath-Hold Reproducibility Treating Locally-Advanced Lung Cancer with Pencil Beam Scanned Proton Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dueck, J; Department of Oncology, Rigshospitalet, Copenhagen; Niels Bohr Institute, University of Copenhagen, Copenhagen

Purpose: The breath-hold (BH) technique has been suggested to mitigate motion and reduce target coverage degradation due to motion effects. The aim of this study was to investigate the effect of inter-BH residual motion on the dose distribution for pencil beam scanned (PBS) proton therapy of locally-advanced lung cancer patients. Methods: A dataset of visually-guided BH CT scans was acquired (10 scans per patient) taken from five lung cancer patients: three intra-fractionally repeated CT scans on treatment days 2,16 and 31, in addition to the day 0 planning CT scan. Three field intensity-modulated proton therapy (IMPT) plans were constructed onmore » the planning CT scan. Dose delivery on fraction 2, 16 and 31 were simulated on the three consecutive CT scans, assuming BH duration of 20s and soft tissue match. The dose was accumulated in the planning CT using deformable image registration, and scaled to simulate the full treatment of 66Gy(RBE) in 33 fractions. Results: The mean dose to the lungs and heart, and maximum dose to the spinal cord and esophagus were within 1% of the planned dose. The CTV V95% decreased and the inhomogeneity (D5%–D95%) increased on average 4.1% (0.4–12.2%) and 5.8% (2.2–13.4%), respectively, over the five patient cases. Conclusion: The results showed that the BH technique seems to spare the OARs in spite of inter-BH residual motion. However, small degradation of target coverage occurred for all patients, with 3/5 patients having a decrease in V95% ≤1%. For the remaining two patients, where V95% decreased up to 12%, the cause could be related to treatment related anatomical changes and, as in photon therapy, plan adaptation may be necessary to ensure target coverage. This study showed that BH could be a potential treatment option to reliably mitigate motion for the treatment of locally-advanced lung cancer using PBS proton therapy.« less

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

NASA Astrophysics Data System (ADS)

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.

Developing Inventory and Monitoring Programs Based on Multiple Objectives

Treesearch

Daniel L. Schmoldt; David L. Peterson; David G. Silsbee

1995-01-01

Resource inventory and monitoring (I&M) programs in national parks combine multiple objectives in order to create a plan of action over a finite time horizon. Because all program activities are constrained by time and money, it is critical to plan I&M activities that make the best use of available agency resources. However, multiple objectives complicate a...

Optimization of Dynamic Aperture of PEP-X Baseline Design

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Min-Huey; /SLAC; Cai, Yunhai

2010-08-23

SLAC is developing a long-range plan to transfer the evolving scientific programs at SSRL from the SPEAR3 light source to a much higher performing photon source. Storage ring design is one of the possibilities that would be housed in the 2.2-km PEP-II tunnel. The design goal of PEPX storage ring is to approach an optimal light source design with horizontal emittance less than 100 pm and vertical emittance of 8 pm to reach the diffraction limit of 1-{angstrom} x-ray. The low emittance design requires a lattice with strong focusing leading to high natural chromaticity and therefore to strong sextupoles. Themore » latter caused reduction of dynamic aperture. The dynamic aperture requirement for horizontal injection at injection point is about 10 mm. In order to achieve the desired dynamic aperture the transverse non-linearity of PEP-X is studied. The program LEGO is used to simulate the particle motion. The technique of frequency map is used to analyze the nonlinear behavior. The effect of the non-linearity is tried to minimize at the given constrains of limited space. The details and results of dynamic aperture optimization are discussed in this paper.« less

Hydrology and sediment budget of Los Laureles Canyon, Tijuana, MX: Modelling channel, gully, and rill erosion with 3D photo-reconstruction, CONCEPTS, and AnnAGNPS

NASA Astrophysics Data System (ADS)

Taniguchi, Kristine; Gudiño, Napoleon; Biggs, Trent; Castillo, Carlos; Langendoen, Eddy; Bingner, Ron; Taguas, Encarnación; Liden, Douglas; Yuan, Yongping

2015-04-01

Several watersheds cross the US-Mexico boundary, resulting in trans-boundary environmental problems. Erosion in Tijuana, Mexico, increases the rate of sediment deposition in the Tijuana Estuary in the United States, altering the structure and function of the ecosystem. The well-being of residents in Tijuana is compromised by damage to infrastructure and homes built adjacent to stream channels, gully formation in dirt roads, and deposition of trash. We aim to understand the dominant source of sediment contributing to the sediment budget of the watershed (channel, gully, or rill erosion), where the hotspots of erosion are located, and what the impact of future planned and unplanned land use changes and Best Management Practices (BMPs) will be on sediment and storm flow. We will be using a mix of field methods, including 3D photo-reconstruction of stream channels, with two models, CONCEPTS and AnnAGNPS to constrain estimates of the sediment budget and impacts of land use change. Our research provides an example of how 3D photo-reconstruction and Structure from Motion (SfM) can be used to model channel evolution.

Cataloging the Praesepe Cluster: Identifying Interlopers and Binary Systems

NASA Astrophysics Data System (ADS)

Lucey, Madeline R.; Gosnell, Natalie M.; Mann, Andrew; Douglas, Stephanie

2018-01-01

We present radial velocity measurements from an ongoing survey of the Praesepe open cluster using the WIYN 3.5m Telescope. Our target stars include 229 early-K to mid-M dwarfs with proper motion memberships that have been observed by the repurposed Kepler mission, K2. With this survey, we will provide a well-constrained membership list of the cluster. By removing interloping stars and determining the cluster binary frequency we can avoid systematic errors in our analysis of the K2 findings and more accurately determine exoplanet properties in the Praesepe cluster. Obtaining accurate exoplanet parameters in open clusters allows us to study the temporal dimension of exoplanet parameter space. We find Praesepe to have a mean radial velocity of 34.09 km/s and a velocity dispersion of 1.13 km/s, which is consistent with previous studies. We derive radial velocity membership probabilities for stars with ≥3 radial velocity measurements and compare against published membership probabilities. We also identify radial velocity variables and potential double-lined spectroscopic binaries. We plan to obtain more observations to determine the radial velocity membership of all the stars in our sample, as well as follow up on radial velocity variables to determine binary orbital solutions.

TU-AB-BRB-01: Coverage Evaluation and Probabilistic Treatment Planning as a Margin Alternative

DOE Office of Scientific and Technical Information (OSTI.GOV)

Siebers, J.

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. Themore » 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 robust-planning as a clinical alternative to using margin-based planning. To understand conceptual differences between uncertainty and predictable motion. To understand fundamental limitations of the PTV concept that probabilistic planning can overcome. To understand the major contributing factors to target and normal tissue coverage probability. To understand the similarities and differences of various robust planning techniques To understand the benefits and limitations of robust planning techniques.« less

A Review of Marine Geophysical Constraints on the Motion Between East and West Antarctica in the Cenozoic (Invited)

NASA Astrophysics Data System (ADS)

Cande, S. C.; Stock, J. M.

2010-12-01

Motion between East and West Antarctica in the Late Cretaceous and Cenozoic is derived by summing the plate circuit(s) linking East Antarctica to Australia to the Lord Howe Rise to the Pacific plate to West Antarctica (the Aus-Pac plate circuit). We discuss this motion in two parts: motion before and after 42 Ma. For the younger time interval, motion is directly constrained by magnetic anomalies in the Adare Basin, which opened by ultraslow seafloor spreading between 42 and 26 Ma (anomalies 18 to 9). The Adare Basin magnetic anomaly constraints can be combined with magnetic anomaly and fracture zone data from the SEIR (Aus-East Ant to the west of the Balleny FZ and Aus - West Ant to the east) to set up an Aus-East Ant - West Ant three-plate problem. The original solution of this three-plate configuration (Cande et al., 2000) only had data from a very short section of the Adare Basin and obtained an answer with very large uncertainties on the East-West Ant rotation. Better estimates of the East-West Ant rotation have been calculated by adding constraints based on seismically controlled estimates of extension in the Victoria Land Basin (Davey et al., 2006) and constraints from Damaske et al’s (2007) detailed aeromagnetic survey of the Adare Basin and adjacent Northern Basin (Granot et al., 2010). Currently, we are working on improving the accuracy of rotations for the post-42 Ma time interval by taking advantage of an unusual plate geometry that enables us to solve a five-boundary, four-plate configuration. Specifically, motion between the four plates (East Ant, West Ant, Aus and Pac) encompasses two related triple junction systems with five spreading ridge segments (Aus-East Ant, Aus-West Ant, Aus-Pac, Pac-West Ant and East Ant-West Ant) which can be combined and solved simultaneously. For the older, pre-42 Ma time interval, the only way to calculate motion between East and West Antarctica is via the long Aus-Pac plate circuit (although it is possible that magnetic anomalies formed by direct spreading between East and West Antarctica, akin to the Adare Basin anomalies, may exist in the poorly mapped Central Basin between the Hallett Ridge and the Iselin Bank). The weakest link in this time interval is the Aus - East Ant boundary; for the time interval from 84 to 42 Ma there are distinctly different results depending on how the tectonic constraints are prioritized (Royer and Rollett, 1997; Tikku and Cande, 1999; Whittaker et al., 2007). The disagreement over the pre-42 Ma motion between Australia and East Antarctica leads to large differences in the predicted motion in the Western Ross Sea and near Ellsworth Land. Another weak link in this circuit is the pattern of sea floor spreading in the Tasman Sea, which is difficult to unravel because of the complex history of motion between Australia, the Lord Howe Rise, and Tasmania (Gaina et al., 1999). Resolution of these issues is required before a well constrained history of East -West Antarctic motion back to the Late Cretaceous is obtained

Deploying weigh-in-motion installations on asphalt concrete pavements.

DOT National Transportation Integrated Search

2010-02-01

The strategic plan for establishing a vehicle weight monitoring net across Texas calls for deploying two : technology types piezoelectric and bending plate systems, and seeks to install weigh-in-motion (WIM) : systems in roadways that are under n...

Iowa in motion : aviation system plan : implementing Iowa's state transportation plan

DOT National Transportation Integrated Search

1999-09-14

Iowa's system of airports provides a variety of services vital to the state's economy and is an integral part of Iowa's overall transportation system. This 1999 Iowa Aviation System Plan (IASP) addresses issues concerning the state's investment in av...

Experimental study of trajectory planning and control of a high precision robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1991-01-01

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Constraining the Evolution of ZZ Ceti

NASA Technical Reports Server (NTRS)

Mukadam, Anjum S.; Kepler, S. O.; Winget, D. E.; Nather, R. E.; Kilic, M.; Mullally, F.; vonHippel, T.; Kleinman, S. J.; Nitta, A.; Guzik, J. A.

2003-01-01

We report our analysis of the stability of pulsation periods in the DAV star (pulsating hydrogen atmosphere white dwarf) ZZ Ceti, also called R548. On the basis of observations that span 31 years, we conclude that the period 213.13 s observed in ZZ Ceti drifts at a rate dP/dt 5 (5.5 plus or minus 1.9) x 10(exp -15) ss(sup -1), after correcting for proper motion. Our results are consistent with previous P values for this mode and an improvement over them because of the larger time base. The characteristic stability timescale implied for the pulsation period is |P||P(raised dot)|greater than or equal to 1.2 Gyr, comparable to the theoretical cooling timescale for the star. Our current stability limit for the period 213.13 s is only slightly less than the present measurement for another DAV, G117-B15A, for the period 215.2 s, establishing this mode in ZZ Ceti as the second most stable optical clock known, comparable to atomic clocks and more stable than most pulsars. Constraining the cooling rate of ZZ Ceti aids theoretical evolutionary models and white dwarf cosmochronology. The drift rate of this clock is small enough that we can set interesting limits on reflex motion due to planetary companions.

The interrelationship of the thorax and pelvis under varying task constraints.

PubMed

Delphinus, Elias M; Sayers, Mark Gregory Leigh

2013-01-01

The purpose of this study was to investigate the interrelationship between the thorax and pelvis during coupled movement patterns. Fifty-seven participants were assessed using an infrared motion analysis system to track trunk movement during maximal pelvis and thorax rotations over four trunk inclinations and two pelvic constraint conditions. A repeated-measures multivariate analysis of variance investigated the effects of forward trunk inclination and pelvic constraint on thorax and pelvic rotation. Forward trunk inclination from neutral to 45° resulted in a 46% (p < 0.001) decrease in axial pelvic rotation and a 15% (p < 0.001) decrease in axial thorax rotation with an unconstrained pelvis. A constrained pelvis resulted in a 15% (p < 0.001) decrease in axial thorax rotation. An externally constrained pelvis allowed the thorax to achieve an average of 18° (SD = 2°) greater rotational range of motion across all angles. This study reinforced the importance of allowing the pelvis to rotate during whole body axial rotation tasks. Results indicated that maximum axial trunk rotation is best achieved in a neutral posture, when the pelvis is allowed to contribute and flexion at the hips should be minimised. For example, if a recumbent task requires rotation of the torso, then the chair seat should be allowed to swivel.

A Practical Comparison of Motion Planning Techniques for Robotic Legs in Environments with Obstacles

NASA Technical Reports Server (NTRS)

Smith, Tristan B.; Chavez-Clemente, Daniel

2009-01-01

ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently, any motion involving steps is cumbersome - each step can require multiple commands and take many minutes to complete. In this paper, we consider four different algorithms that generate a sequence of commands to take a step. We consider a baseline heuristic, a randomized motion planning algorithm, and two variants of A* search. Results for a variety of terrains are presented, and we discuss the quantitative and qualitative tradeoffs between the approaches.

TU-AB-BRB-00: New Methods to Ensure Target Coverage

DOE Office of Scientific and Technical Information (OSTI.GOV)

NONE

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. Themore » 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 robust-planning as a clinical alternative to using margin-based planning. To understand conceptual differences between uncertainty and predictable motion. To understand fundamental limitations of the PTV concept that probabilistic planning can overcome. To understand the major contributing factors to target and normal tissue coverage probability. To understand the similarities and differences of various robust planning techniques To understand the benefits and limitations of robust planning techniques.« less

Envelope statistics of self-motion signals experienced by human subjects during everyday activities: Implications for vestibular processing.

PubMed

Carriot, Jérome; Jamali, Mohsen; Cullen, Kathleen E; Chacron, Maurice J

2017-01-01

There is accumulating evidence that the brain's neural coding strategies are constrained by natural stimulus statistics. Here we investigated the statistics of the time varying envelope (i.e. a second-order stimulus attribute that is related to variance) of rotational and translational self-motion signals experienced by human subjects during everyday activities. We found that envelopes can reach large values across all six motion dimensions (~450 deg/s for rotations and ~4 G for translations). Unlike results obtained in other sensory modalities, the spectral power of envelope signals decreased slowly for low (< 2 Hz) and more sharply for high (>2 Hz) temporal frequencies and thus was not well-fit by a power law. We next compared the spectral properties of envelope signals resulting from active and passive self-motion, as well as those resulting from signals obtained when the subject is absent (i.e. external stimuli). Our data suggest that different mechanisms underlie deviation from scale invariance in rotational and translational self-motion envelopes. Specifically, active self-motion and filtering by the human body cause deviation from scale invariance primarily for translational and rotational envelope signals, respectively. Finally, we used well-established models in order to predict the responses of peripheral vestibular afferents to natural envelope stimuli. We found that irregular afferents responded more strongly to envelopes than their regular counterparts. Our findings have important consequences for understanding the coding strategies used by the vestibular system to process natural second-order self-motion signals.

Thunder-induced ground motions: 1. Observations

NASA Astrophysics Data System (ADS)

Lin, Ting-L.; Langston, Charles A.

2009-04-01

Acoustic pressure from thunder and its induced ground motions were investigated using a small array consisting of five three-component short-period surface seismometers, a three-component borehole seismometer, and five infrasound microphones. We used the array to constrain wave parameters of the incident acoustic and seismic waves. The incident slowness differences between acoustic pressure and ground motions suggest that ground reverberations were first initiated somewhat away from the array. Using slowness inferred from ground motions is preferable to obtain the seismic source parameters. We propose a source equalization procedure for acoustic/seismic deconvolution to generate the time domain transfer function, a procedure similar to that of obtaining teleseismic earthquake receiver functions. The time domain transfer function removes the incident pressure time history from the seismogram. An additional vertical-to-radial ground motion transfer function was used to identify the Rayleigh wave propagation mode of induced seismic waves complementing that found using the particle motions and amplitude variations in the borehole. The initial motions obtained by the time domain transfer functions suggest a low Poisson's ratio for the near-surface layer. The acoustic-to-seismic transfer functions show a consistent reverberation series at frequencies near 5 Hz. This gives an empirical measure of site resonance that depends on the ratio of the layer velocity to layer thickness for earthquake P and S waves. The time domain transfer function approach by transferring a spectral division into the time domain provides an alternative method for studying acoustic-to-seismic coupling.

Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts's-Law-Inspired Approach

PubMed Central

Lin, Hsien-I; George Lee, C. S.

2013-01-01

Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The proposed pIp provides a quantitative measure for a robot with revolute joints, which is inspired from an index of performance in Fitts's law of human skills. Computer simulations and experiments on a PUMA 560 industrial robot were conducted to validate the proposed pIp for performing a motion accurately and rapidly. PMID:23820745

Measurement of the robot motor capability of a robot motor system: a Fitts's-law-inspired approach.

PubMed

Lin, Hsien-I; Lee, C S George

2013-07-02

Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The proposed pIp provides a quantitative measure for a robot with revolute joints, which is inspired from an index of performance in Fitts's law of human skills. Computer simulations and experiments on a PUMA 560 industrial robot were conducted to validate the proposed pIp for performing a motion accurately and rapidly.

Spikes alone do not behavior make: Why neuroscience needs biomechanics

PubMed Central

Tytell, E.D.; Holmes, P.; Cohen, A.H.

2011-01-01

Neural circuits do not function in isolation; they interact with the physical world, accepting sensory inputs and producing outputs via muscles. Since both these pathways are constrained by physics, the activity of neural circuits can only be understood by considering biomechanics of muscles, bodies, and the exterior world. We discuss how animal bodies have natural stable motions that require relatively little activation or control from the nervous system. The nervous system can substantially alter these motions, by subtly changing mechanical properties such as leg sti ness. Mechanics can also provide robustness to perturbations without sensory reflexes. By considering a complete neuromechanical system, neuroscientists and biomechanicians together can provide a more integrated view of neural circuitry and behavior. PMID:21683575

The Coordination Dynamics of Observational Learning: Relative Motion Direction and Relative Phase as Informational Content Linking Action-Perception to Action-Production.

PubMed

Buchanan, John J

2016-01-01

The primary goal of this chapter is to merge together the visual perception perspective of observational learning and the coordination dynamics theory of pattern formation in perception and action. Emphasis is placed on identifying movement features that constrain and inform action-perception and action-production processes. Two sources of visual information are examined, relative motion direction and relative phase. The visual perception perspective states that the topological features of relative motion between limbs and joints remains invariant across an actor's motion and therefore are available for pickup by an observer. Relative phase has been put forth as an informational variable that links perception to action within the coordination dynamics theory. A primary assumption of the coordination dynamics approach is that environmental information is meaningful only in terms of the behavior it modifies. Across a series of single limb tasks and bimanual tasks it is shown that the relative motion and relative phase between limbs and joints is picked up through visual processes and supports observational learning of motor skills. Moreover, internal estimations of motor skill proficiency and competency are linked to the informational content found in relative motion and relative phase. Thus, the chapter links action to perception and vice versa and also links cognitive evaluations to the coordination dynamics that support action-perception and action-production processes.

Rib kinematics during lung ventilation in the American alligator (Alligator mississippiensis): an XROMM analysis

PubMed Central

Moritz, Sabine; Codd, Jonathan; Sellers, William I.

2017-01-01

ABSTRACT The current hypothesis regarding the mechanics of breathing in crocodylians is that the double-headed ribs, with both a capitulum and tuberculum, rotate about a constrained axis passing through the two articulations; moreover, this axis shifts in the caudal thoracic ribs, as the vertebral parapophysis moves from the centrum to the transverse process. Additionally, the ventral ribcage in crocodylians is thought to possess additional degrees of freedom through mobile intermediate ribs. In this study, X-ray reconstruction of moving morphology (XROMM) was used to quantify rib rotation during breathing in American alligators. Whilst costovertebral joint anatomy predicted overall patterns of motion across the ribcage (decreased bucket handle motion and increased calliper motion), there were significant deviations: anatomical axes overestimated pump handle motion and, generally, ribs in vivo rotate about all three body axes more equally than predicted. The intermediate ribs are mobile, with a high degree of rotation measured about the dorsal intracostal joints, especially in the more caudal ribs. Motion of the sternal ribs became increasingly complex caudally, owing to a combination of the movements of the vertebral and intermediate segments. As the crocodylian ribcage is sometimes used as a model for the ancestral archosaur, these results have important implications for how rib motion is reconstructed in fossil taxa, and illustrate the difficulties in reconstructing rib movement based on osteology alone. PMID:28855323

Recent updates in developing a statistical pseudo-dynamic source-modeling framework to capture the variability of earthquake rupture scenarios

NASA Astrophysics Data System (ADS)

Song, Seok Goo; Kwak, Sangmin; Lee, Kyungbook; Park, Donghee

2017-04-01

It is a critical element to predict the intensity and variability of strong ground motions in seismic hazard assessment. The characteristics and variability of earthquake rupture process may be a dominant factor in determining the intensity and variability of near-source strong ground motions. Song et al. (2014) demonstrated that the variability of earthquake rupture scenarios could be effectively quantified in the framework of 1-point and 2-point statistics of earthquake source parameters, constrained by rupture dynamics and past events. The developed pseudo-dynamic source modeling schemes were also validated against the recorded ground motion data of past events and empirical ground motion prediction equations (GMPEs) at the broadband platform (BBP) developed by the Southern California Earthquake Center (SCEC). Recently we improved the computational efficiency of the developed pseudo-dynamic source-modeling scheme by adopting the nonparametric co-regionalization algorithm, introduced and applied in geostatistics initially. We also investigated the effect of earthquake rupture process on near-source ground motion characteristics in the framework of 1-point and 2-point statistics, particularly focusing on the forward directivity region. Finally we will discuss whether the pseudo-dynamic source modeling can reproduce the variability (standard deviation) of empirical GMPEs and the efficiency of 1-point and 2-point statistics to address the variability of ground motions.

Eye Movements in Darkness Modulate Self-Motion Perception.

PubMed

Clemens, Ivar Adrianus H; Selen, Luc P J; Pomante, Antonella; MacNeilage, Paul R; Medendorp, W Pieter

2017-01-01

During self-motion, humans typically move the eyes to maintain fixation on the stationary environment around them. These eye movements could in principle be used to estimate self-motion, but their impact on perception is unknown. We had participants judge self-motion during different eye-movement conditions in the absence of full-field optic flow. In a two-alternative forced choice task, participants indicated whether the second of two successive passive lateral whole-body translations was longer or shorter than the first. This task was used in two experiments. In the first ( n = 8), eye movements were constrained differently in the two translation intervals by presenting either a world-fixed or body-fixed fixation point or no fixation point at all (allowing free gaze). Results show that perceived translations were shorter with a body-fixed than a world-fixed fixation point. A linear model indicated that eye-movement signals received a weight of ∼25% for the self-motion percept. This model was independently validated in the trials without a fixation point (free gaze). In the second experiment ( n = 10), gaze was free during both translation intervals. Results show that the translation with the larger eye-movement excursion was judged more often to be larger than chance, based on an oculomotor choice probability analysis. We conclude that eye-movement signals influence self-motion perception, even in the absence of visual stimulation.

Eye Movements in Darkness Modulate Self-Motion Perception

PubMed Central

Pomante, Antonella

2017-01-01

Abstract During self-motion, humans typically move the eyes to maintain fixation on the stationary environment around them. These eye movements could in principle be used to estimate self-motion, but their impact on perception is unknown. We had participants judge self-motion during different eye-movement conditions in the absence of full-field optic flow. In a two-alternative forced choice task, participants indicated whether the second of two successive passive lateral whole-body translations was longer or shorter than the first. This task was used in two experiments. In the first (n = 8), eye movements were constrained differently in the two translation intervals by presenting either a world-fixed or body-fixed fixation point or no fixation point at all (allowing free gaze). Results show that perceived translations were shorter with a body-fixed than a world-fixed fixation point. A linear model indicated that eye-movement signals received a weight of ∼25% for the self-motion percept. This model was independently validated in the trials without a fixation point (free gaze). In the second experiment (n = 10), gaze was free during both translation intervals. Results show that the translation with the larger eye-movement excursion was judged more often to be larger than chance, based on an oculomotor choice probability analysis. We conclude that eye-movement signals influence self-motion perception, even in the absence of visual stimulation. PMID:28144623

4D dose simulation in volumetric arc therapy: Accuracy and affecting parameters

PubMed Central

Werner, René

2017-01-01

Radiotherapy of lung and liver lesions has changed from normofractioned 3D-CRT to stereotactic treatment in a single or few fractions, often employing volumetric arc therapy (VMAT)-based techniques. Potential unintended interference of respiratory target motion and dynamically changing beam parameters during VMAT dose delivery motivates establishing 4D quality assurance (4D QA) procedures to assess appropriateness of generated VMAT treatment plans when taking into account patient-specific motion characteristics. Current approaches are motion phantom-based 4D QA and image-based 4D VMAT dose simulation. Whereas phantom-based 4D QA is usually restricted to a small number of measurements, the computational approaches allow simulating many motion scenarios. However, 4D VMAT dose simulation depends on various input parameters, influencing estimated doses along with mitigating simulation reliability. Thus, aiming at routine use of simulation-based 4D VMAT QA, the impact of such parameters as well as the overall accuracy of the 4D VMAT dose simulation has to be studied in detail–which is the topic of the present work. In detail, we introduce the principles of 4D VMAT dose simulation, identify influencing parameters and assess their impact on 4D dose simulation accuracy by comparison of simulated motion-affected dose distributions to corresponding dosimetric motion phantom measurements. Exploiting an ITV-based treatment planning approach, VMAT treatment plans were generated for a motion phantom and different motion scenarios (sinusoidal motion of different period/direction; regular/irregular motion). 4D VMAT dose simulation results and dose measurements were compared by local 3% / 3 mm γ-evaluation, with the measured dose distributions serving as ground truth. Overall γ-passing rates of simulations and dynamic measurements ranged from 97% to 100% (mean across all motion scenarios: 98% ± 1%); corresponding values for comparison of different day repeat measurements were between 98% and 100%. Parameters of major influence on 4D VMAT dose simulation accuracy were the degree of temporal discretization of the dose delivery process (the higher, the better) and correct alignment of the assumed breathing phases at the beginning of the dose measurements and simulations. Given the high γ-passing rates between simulated motion-affected doses and dynamic measurements, we consider the simulations to provide a reliable basis for assessment of VMAT motion effects that–in the sense of 4D QA of VMAT treatment plans–allows to verify target coverage in hypofractioned VMAT-based radiotherapy of moving targets. Remaining differences between measurements and simulations motivate, however, further detailed studies. PMID:28231337

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

PubMed

Falk, Marianne; Larsson, Tobias; Keall, Paul; Chul Cho, Byung; Aznar, Marianne; Korreman, Stine; Poulsen, Per; Munck Af Rosenschold, Per

2012-03-01

Real-time dynamic multileaf collimator (MLC) tracking for management of intrafraction tumor motion can be challenging for highly modulated beams, as the leaves need to travel far to adjust for target motion perpendicular to the leaf travel direction. The plan modulation can be reduced by using a leaf position constraint (LPC) that reduces the difference in the position of adjacent MLC leaves in the plan. The purpose of this study was to investigate the impact of the LPC on the quality of inversely optimized arc radiotherapy plans and the effect of the MLC motion pattern on the dosimetric accuracy of MLC tracking delivery. Specifically, the possibility of predicting the accuracy of MLC tracking delivery based on the plan modulation was investigated. Inversely optimized arc radiotherapy plans were created on CT-data of three lung cancer patients. For each case, five plans with a single 358° arc were generated with LPC priorities of 0 (no LPC), 0.25, 0.5, 0.75, and 1 (highest possible LPC), respectively. All the plans had a prescribed dose of 2 Gy × 30, used 6 MV, a maximum dose rate of 600 MU/min and a collimator angle of 45° or 315°. To quantify the plan modulation, an average adjacent leaf distance (ALD) was calculated by averaging the mean adjacent leaf distance for each control point. The linear relationship between the plan quality [i.e., the calculated dose distributions and the number of monitor units (MU)] and the LPC was investigated, and the linear regression coefficient as well as a two tailed confidence level of 95% was used in the evaluation. The effect of the plan modulation on the performance of MLC tracking was tested by delivering the plans to a cylindrical diode array phantom moving with sinusoidal motion in the superior-inferior direction with a peak-to-peak displacement of 2 cm and a cycle time of 6 s. The delivery was adjusted to the target motion using MLC tracking, guided in real-time by an infrared optical system. The dosimetric results were evaluated using gamma index evaluation with static target measurements as reference. The plan quality parameters did not depend significantly on the LPC (p ≥ 0.066), whereas the ALD depended significantly on the LPC (p < 0.001). The gamma index failure rate depended significantly on the ALD, weighted to the percentage of the beam delivered in each control point of the plan (ALD(w)) when MLC tracking was used (p < 0.001), but not for delivery without MLC tracking (p ≥ 0.342). The gamma index failure rate with the criteria of 2% and 2 mm was decreased from > 33.9% without MLC tracking to <31.4% (LPC 0) and <2.2% (LPC 1) with MLC tracking. The results indicate that the dosimetric robustness of MLC tracking delivery of an inversely optimized arc radiotherapy plan can be improved by incorporating leaf position constraints in the objective function without otherwise affecting the plan quality. The dosimetric robustness may be estimated prior to delivery by evaluating the ALD(w) of the plan.

New constraints on the Neogene plate kinematics of West and East Antarctica

NASA Astrophysics Data System (ADS)

Granot, R.; Dyment, J.; Szitkar, F.

2016-12-01

The motion between East and West Antarctic Plates during the last 26 million years (post-Adare seafloor spreading) is loosely constrained, and although it is often considered negligible, accumulating observations from along the rift system suggest that significant faulting and transtensional motion have occurred in that period. Part of the reason for this uncertainty is the complicated kinematic evolution of the oceanic crust found north of the Ross Sea and the lack of proper magnetic anomaly data at key tectonic locations. We have conducted a series of two cruises (TACT project) aboard M/V L'Astrolabe, the supply ship of Dumont d'Urville French Antarctic station, in February-March of 2012 and 2016 during which we have acquired total field magnetic profiles oriented along flowline direction and straddling the Tasman spreading corridor, located between Tasmania and the Balleny Islands and the Tasman and Balleny FZs. The new data allow us to refine the overall motion of the Macquarie Plate relative to Australia. After correction of this motion, the Tasman corridor, lying west of the Balleny FZ uncovers the Australia-East Antarctic plate motion, and the Balleny corridor, lying east of the FZ uncovers the Australia-West Antarctic plate motion, reveal a mismatched anomaly pattern that result from the Neogene relative plate motion between East and West Antarctica. We combine these new observations together with geological constraints from within the west Antarctic rift system to compute new rotation parameters that describe the relative plate motion between West and East Antarctica for the last 26 million years.

Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.

PubMed

Hu, Zhenkai; Yoon, Chae-Hyun; Park, Samuel Byeongjun; Jo, Yung-Ho

2016-07-01

We propose a portable haptic device providing grasp (kinesthetic) and push-pull (cutaneous) sensations for optical-motion-capture master interfaces. Although optical-motion-capture master interfaces for surgical robot systems can overcome the stiffness, friction, and coupling problems of mechanical master interfaces, it is difficult to add haptic feedback to an optical-motion-capture master interface without constraining the free motion of the operator's hands. Therefore, we utilized a Bowden cable-driven mechanism to provide the grasp and push-pull sensation while retaining the free hand motion of the optical-motion capture master interface. To evaluate the haptic device, we construct a 2-DOF force sensing/force feedback system. We compare the sensed force and the reproduced force of the haptic device. Finally, a needle insertion test was done to evaluate the performance of the haptic interface in the master-slave system. The results demonstrate that both the grasp force feedback and the push-pull force feedback provided by the haptic interface closely matched with the sensed forces of the slave robot. We successfully apply our haptic interface in the optical-motion-capture master-slave system. The results of the needle insertion test showed that our haptic feedback can provide more safety than merely visual observation. We develop a suitable haptic device to produce both kinesthetic grasp force feedback and cutaneous push-pull force feedback. Our future research will include further objective performance evaluations of the optical-motion-capture master-slave robot system with our haptic interface in surgical scenarios.

Collection and Analysis of Augmented Weigh-In-Motion Data

DOT National Transportation Integrated Search

1996-12-01

Traffic loading data are essential for the planning and design of adequate and cost-effective highway pavements. Data from an augmented weigh-in-motion (WIM) system have been collected and analyzed. The augmented WIM systems, which comprise bending-p...

40 CFR 305.23 - Motions.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 28 2011-07-01 2011-07-01 false Motions. 305.23 Section 305.23 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SUPERFUND, EMERGENCY PLANNING, AND... (CERCLA) ADMINISTRATIVE HEARING PROCEDURES FOR CLAIMS AGAINST THE SUPERFUND Prehearing Procedures § 305.23...

40 CFR 305.23 - Motions.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 40 Protection of Environment 29 2013-07-01 2013-07-01 false Motions. 305.23 Section 305.23 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SUPERFUND, EMERGENCY PLANNING, AND... (CERCLA) ADMINISTRATIVE HEARING PROCEDURES FOR CLAIMS AGAINST THE SUPERFUND Prehearing Procedures § 305.23...

40 CFR 305.23 - Motions.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 40 Protection of Environment 29 2012-07-01 2012-07-01 false Motions. 305.23 Section 305.23 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SUPERFUND, EMERGENCY PLANNING, AND... (CERCLA) ADMINISTRATIVE HEARING PROCEDURES FOR CLAIMS AGAINST THE SUPERFUND Prehearing Procedures § 305.23...

Effective Use of Weigh-in-Motion Data : The Netherlands Case Study

DOT National Transportation Integrated Search

2007-10-01

Transportation and law enforcement agencies in the Netherlands have developed a robust weigh-in-motion (WIM) data management system that supports a broad array of vehicle weight regulation and enforcement activities, as well as long-term planning and...

Methods to model and predict the ViewRay treatment deliveries to aid patient scheduling and treatment planning.

PubMed

Liu, Shi; Wu, Yu; Wooten, H Omar; Green, Olga; Archer, Brent; Li, Harold; Yang, Deshan

2016-03-08

A software tool is developed, given a new treatment plan, to predict treatment delivery time for radiation therapy (RT) treatments of patients on ViewRay magnetic resonance image-guided radiation therapy (MR-IGRT) delivery system. This tool is necessary for managing patient treatment scheduling in our clinic. The predicted treatment delivery time and the assessment of plan complexities could also be useful to aid treatment planning. A patient's total treatment delivery time, not including time required for localization, is modeled as the sum of four components: 1) the treatment initialization time; 2) the total beam-on time; 3) the gantry rotation time; and 4) the multileaf collimator (MLC) motion time. Each of the four components is predicted separately. The total beam-on time can be calculated using both the planned beam-on time and the decay-corrected dose rate. To predict the remain-ing components, we retrospectively analyzed the patient treatment delivery record files. The initialization time is demonstrated to be random since it depends on the final gantry angle of the previous treatment. Based on modeling the relationships between the gantry rotation angles and the corresponding rotation time, linear regression is applied to predict the gantry rotation time. The MLC motion time is calculated using the leaves delay modeling method and the leaf motion speed. A quantitative analysis was performed to understand the correlation between the total treatment time and the plan complexity. The proposed algorithm is able to predict the ViewRay treatment delivery time with the average prediction error 0.22min or 1.82%, and the maximal prediction error 0.89 min or 7.88%. The analysis has shown the correlation between the plan modulation (PM) factor and the total treatment delivery time, as well as the treatment delivery duty cycle. A possibility has been identified to significantly reduce MLC motion time by optimizing the positions of closed MLC pairs. The accuracy of the proposed prediction algorithm is sufficient to support patient treatment appointment scheduling. This developed software tool is currently applied in use on a daily basis in our clinic, and could also be used as an important indicator for treatment plan complexity.

SU-E-T-133: Dosimetric Impact of Scan Orientation Relative to Target Motion During Spot Scanning Proton Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stoker, J; Summers, P; Li, X

2014-06-01

Purpose: This study seeks to evaluate the dosimetric effects of intra-fraction motion during spot scanning proton beam therapy as a function of beam-scan orientation and target motion amplitude. Method: Multiple 4DCT scans were collected of a dynamic anthropomorphic phantom mimicking respiration amplitudes of 0 (static), 0.5, 1.0, and 1.5 cm. A spot-scanning treatment plan was developed on the maximum intensity projection image set, using an inverse-planning approach. Dynamic phantom motion was continuous throughout treatment plan delivery.The target nodule was designed to accommodate film and thermoluminescent dosimeters (TLD). Film and TLDs were uniquely labeled by location within the target. The phantommore » was localized on the treatment table using the clinically available orthogonal kV on-board imaging device. Film inserts provided data for dose uniformity; TLDs provided a 3% precision estimate of absolute dose. An inhouse script was developed to modify the delivery order of the beam spots, to orient the scanning direction parallel or perpendicular to target motion.TLD detector characterization and analysis was performed by the Imaging and Radiation Oncology Core group (IROC)-Houston. Film inserts, exhibiting a spatial resolution of 1mm, were analyzed to determine dose homogeneity within the radiation target. Results: Parallel scanning and target motions exhibited reduced target dose heterogeneity, relative to perpendicular scanning orientation. The average percent deviation in absolute dose for the motion deliveries relative to the static delivery was 4.9±1.1% for parallel scanning, and 11.7±3.5% (p<<0.05) for perpendicularly oriented scanning. Individual delivery dose deviations were not necessarily correlated to amplitude of motion for either scan orientation. Conclusions: Results demonstrate a quantifiable difference in dose heterogeneity as a function of scan orientation, more so than target amplitude. Comparison to the analyzed planar dose of a single field hint that multiple-field delivery alters intra-fraction beam-target motion synchronization and may mitigate heterogeneity, though further study is warranted.« less

Biped Robot Gait Planning Based on 3D Linear Inverted Pendulum Model

NASA Astrophysics Data System (ADS)

Yu, Guochen; Zhang, Jiapeng; Bo, Wu

2018-01-01

In order to optimize the biped robot’s gait, the biped robot’s walking motion is simplify to the 3D linear inverted pendulum motion mode. The Center of Mass (CoM) locus is determined from the relationship between CoM and the Zero Moment Point (ZMP) locus. The ZMP locus is planned in advance. Then, the forward gait and lateral gait are simplified as connecting rod structure. Swing leg trajectory using B-spline interpolation. And the stability of the walking process is discussed in conjunction with the ZMP equation. Finally the system simulation is carried out under the given conditions to verify the validity of the proposed planning method.

SU-F-J-133: Adaptive Radiation Therapy with a Four-Dimensional Dose Calculation Algorithm That Optimizes Dose Distribution Considering Breathing Motion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ali, I; Algan, O; Ahmad, S

Purpose: To model patient motion and produce four-dimensional (4D) optimized dose distributions that consider motion-artifacts in the dose calculation during the treatment planning process. Methods: An algorithm for dose calculation is developed where patient motion is considered in dose calculation at the stage of the treatment planning. First, optimal dose distributions are calculated for the stationary target volume where the dose distributions are optimized considering intensity-modulated radiation therapy (IMRT). Second, a convolution-kernel is produced from the best-fitting curve which matches the motion trajectory of the patient. Third, the motion kernel is deconvolved with the initial dose distribution optimized for themore » stationary target to produce a dose distribution that is optimized in four-dimensions. This algorithm is tested with measured doses using a mobile phantom that moves with controlled motion patterns. Results: A motion-optimized dose distribution is obtained from the initial dose distribution of the stationary target by deconvolution with the motion-kernel of the mobile target. This motion-optimized dose distribution is equivalent to that optimized for the stationary target using IMRT. The motion-optimized and measured dose distributions are tested with the gamma index with a passing rate of >95% considering 3% dose-difference and 3mm distance-to-agreement. If the dose delivery per beam takes place over several respiratory cycles, then the spread-out of the dose distributions is only dependent on the motion amplitude and not affected by motion frequency and phase. This algorithm is limited to motion amplitudes that are smaller than the length of the target along the direction of motion. Conclusion: An algorithm is developed to optimize dose in 4D. Besides IMRT that provides optimal dose coverage for a stationary target, it extends dose optimization to 4D considering target motion. This algorithm provides alternative to motion management techniques such as beam-gating or breath-holding and has potential applications in adaptive radiation therapy.« less

Constraining the Mass of the Local Group through Proper Motion Measurements of Local Group Galaxies

NASA Astrophysics Data System (ADS)

Sohn, S. Tony; van der Marel, R.; Anderson, J.

2012-01-01

The Local Group and its two dominant spiral galaxies have been the benchmark for testing many aspects of cosmological and galaxy formation theories. This includes, e.g., dark halo profiles and shapes, substructure and the "missing satellite" problem, and the minimum mass for galaxy formation. But despite the extensive work in all of these areas, our knowledge of the mass of the Milky Way and M31, and thus the total mass of the Local Group remains one of the most poorly established astronomical parameters (uncertain by a factor of 4). One important reason for this problem is the lack of information in tangential motions of galaxies, which can be only obtained through proper motion measurements. In this study, we introduce our projects for measuring absolute proper motions of (1) the dwarf spheroidal galaxy Leo I, (2) M31, and (3) the 4 dwarf galaxies near the edge of the Local Group (Cetus, Leo A, Tucana, and Sag DIG). Results from these three independent measurements will provide important clues to the mass of the Milky Way, M31, and the Local Group as a whole, respectively. We also present our proper motion measurement technique that uses compact background galaxies as astrometric reference sources.

Two-dimensional nature of the active Brownian motion of catalytic microswimmers at solid and liquid interfaces

NASA Astrophysics Data System (ADS)

Dietrich, Kilian; Renggli, Damian; Zanini, Michele; Volpe, Giovanni; Buttinoni, Ivo; Isa, Lucio

2017-06-01

Colloidal particles equipped with platinum patches can establish chemical gradients in H2O2-enriched solutions and undergo self-propulsion due to local diffusiophoretic migration. In bulk (3D), this class of active particles swim in the direction of the surface heterogeneities introduced by the patches and consequently reorient with the characteristic rotational diffusion time of the colloids. In this article, we present experimental and numerical evidence that planar 2D confinements defy this simple picture. Instead, the motion of active particles both on solid substrates and at flat liquid-liquid interfaces is captured by a 2D active Brownian motion model, in which rotational and translational motion are constrained in the xy-plane. This leads to an active motion that does not follow the direction of the surface heterogeneities and to timescales of reorientation that do not match the free rotational diffusion times. Furthermore, 2D-confinement at fluid-fluid interfaces gives rise to a unique distribution of swimming velocities: the patchy colloids uptake two main orientations leading to two particle populations with velocities that differ up to one order of magnitude. Our results shed new light on the behavior of active colloids in 2D, which is of interest for modeling and applications where confinements are present.

Role of arm motion in feet-in-place balance recovery.

PubMed

Cheng, Kuangyou B; Wang, Kuan-Mao; Kuo, Shih-Yu

2015-09-18

Although considerable arm movements have been observed at loss of balance, research on standing balance focused primarily on the ankle and hip strategies. This study aimed to investigate the effect of arm motion on feet-in-place balance recovery. Participants stood on a single force plate and leaned forward with a straight body posture. They were then released from three forward-lean angles and regained balance without moving their forefeet under arm-swing (AS) and arm-constrained (AC) conditions. Higher success rates and shorter recovery times were found with arm motion under moderate balance perturbations. Recovery time was significantly correlated with peak linear momentum of the arms. Circumduction arm motion caused initial shoulder extension (backward arm movement) to generate reaction forces to pull the body forward, but later forward linear momentum of the arms helped move the whole body backward to avoid forward falling. However, greater lean angles increased difficulty in balance recovery, making the influences of the arms less significant. Since arm motions were observed in all participants with significantly enhanced performance under moderate balance perturbation, it was concluded that moving the arms should also be considered (together with the ankles and hips) as an effective strategy for balance recovery. Copyright © 2015 Elsevier Ltd. All rights reserved.

Effect of different breathing patterns in the same patient on stereotactic ablative body radiotherapy dosimetry for primary renal cell carcinoma: A case study

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pham, Daniel, E-mail: Daniel.Pham@petermac.org; Kron, Tomas; Foroudi, Farshad

2013-10-01

Stereotactic ablative body radiotherapy (SABR) for primary renal cell carcinoma (RCC) targets requires motion management strategies to verify dose delivery. This case study highlights the effect of a change in patient breathing amplitude on the dosimetry to organs at risk and target structures. A 73-year-old male patient was planned for receiving 26 Gy of radiation in 1 fraction of SABR for a left primary RCC. The patient was simulated with four-dimensional computed tomography (4DCT) and the tumor internal target volume (ITV) was delineated using the 4DCT maximum intensity projection. However, the initially planned treatment was abandoned at the radiation oncologist'smore » discretion after pretreatment cone-beam CT (CBCT) motion verification identified a greater than 50% reduction in superior to inferior diaphragm motion as compared with the planning 4DCT. This patient was resimulated with respiratory coaching instructions. To assess the effect of the change in breathing on the dosimetry to the target, each plan was recalculated on the data set representing the change in breathing condition. A change from smaller to larger breathing showed a 46% loss in planning target volume (PTV) coverage, whereas a change from larger breathing to smaller breathing resulted in an 8% decrease in PTV coverage. ITV coverage was similarly reduced by 8% in both scenarios. This case study highlights the importance of tools to verify breathing motion prior to treatment delivery. 4D image guided radiation therapy verification strategies should focus on not only verifying ITV margin coverage but also the effect on the surrounding organs at risk.« less

Realtime motion planning for a mobile robot in an unknown environment using a neurofuzzy based approach

NASA Astrophysics Data System (ADS)

Zheng, Taixiong

2005-12-01

A neuro-fuzzy network based approach for robot motion in an unknown environment was proposed. In order to control the robot motion in an unknown environment, the behavior of the robot was classified into moving to the goal and avoiding obstacles. Then, according to the dynamics of the robot and the behavior character of the robot in an unknown environment, fuzzy control rules were introduced to control the robot motion. At last, a 6-layer neuro-fuzzy network was designed to merge from what the robot sensed to robot motion control. After being trained, the network may be used for robot motion control. Simulation results show that the proposed approach is effective for robot motion control in unknown environment.

Quantication and analysis of respiratory motion from 4D MRI

NASA Astrophysics Data System (ADS)

Aizzuddin Abd Rahni, Ashrani; Lewis, Emma; Wells, Kevin

2014-11-01

It is well known that respiratory motion affects image acquisition and also external beam radiotherapy (EBRT) treatment planning and delivery. However often the existing approaches for respiratory motion management are based on a generic view of respiratory motion such as the general movement of organ, tissue or fiducials. This paper thus aims to present a more in depth analysis of respiratory motion based on 4D MRI for further integration into motion correction in image acquisition or image based EBRT. Internal and external motion was first analysed separately, on a per-organ basis for internal motion. Principal component analysis (PCA) was then performed on the internal and external motion vectors separately and the relationship between the two PCA spaces was analysed. The motion extracted from 4D MRI on general was found to be consistent with what has been reported in literature.

U.S. Marine Corps Training Modeling and Simulation Master Plan

DTIC Science & Technology

2007-01-18

is needed that is not restricted by line of sight (LOS) and is transportable/ deployable. • The LVC-TE must have the ability to have Human Anatomy Motion... Human Anatomy Motion-Tracking and Display HEAT.............................HMMWV Egress Assistance Trainer HLA

Quickly Approximating the Distance Between Two Objects

NASA Technical Reports Server (NTRS)

Hammen, David

2009-01-01

A method of quickly approximating the distance between two objects (one smaller, regarded as a point; the other larger and complexly shaped) has been devised for use in computationally simulating motions of the objects for the purpose of planning the motions to prevent collisions.

Constrained dynamics of the sole tryptophan in the third intracellular loop of the serotonin1A receptor.

PubMed

Pal, Sreetama; Aute, Ramdas; Sarkar, Parijat; Bose, Shroddha; Deshmukh, Mandar V; Chattopadhyay, Amitabha

2018-06-01

G protein-coupled receptors (GPCRs) are major signaling proteins in eukaryotic cells and are important drug targets. In spite of their role in GPCR function, the extramembranous regions of GPCRs are relatively less appreciated. The third intracellular loop (ICL3), which connects transmembrane helices V and VI, is important in this context since its crucial role in signaling has been documented for a number of GPCRs. Unfortunately, the structure of this loop is generally not visualized in x-ray crystallographic studies since this flexible loop is either stabilized using a monoclonal antibody or replaced with lysozyme. In this work, we expressed and purified the ICL3 region of the serotonin 1A receptor and monitored its motional restriction and organization utilizing red edge excitation shift (REES) of its sole tryptophan and circular dichroism (CD) spectroscopy. Our results show that the tryptophan in ICL3 exhibits REES of 4 nm, implying that it is localized in a restricted microenvironment. These results are further supported by wavelength-selective changes in fluorescence anisotropy and lifetime. This constrained dynamics was relaxed upon denaturation of the peptide, thereby suggesting the involvement of the peptide secondary structure in the observed motional restriction, as evident from CD spectroscopy and apparent rotational correlation time. To the best of our knowledge, these results constitute one of the first measurements of motional constraint in the ICL3 region of GPCRs. Our results are relevant in the context of the reported intrinsically disordered nature of ICL3 and its role in providing functional diversity to GPCRs due to conformational plasticity. Copyright © 2018 Elsevier B.V. All rights reserved.

A practical solution to reduce soft tissue artifact error at the knee using adaptive kinematic constraints.

PubMed

Potvin, Brigitte M; Shourijeh, Mohammad S; Smale, Kenneth B; Benoit, Daniel L

2017-09-06

Musculoskeletal modeling and simulations have vast potential in clinical and research fields, but face various challenges in representing the complexities of the human body. Soft tissue artifact from skin-mounted markers may lead to non-physiological representation of joint motions being used as inputs to models in simulations. To address this, we have developed adaptive joint constraints on five of the six degree of freedom of the knee joint based on in vivo tibiofemoral joint motions recorded during walking, hopping and cutting motions from subjects instrumented with intra-cortical pins inserted into their tibia and femur. The constraint boundaries vary as a function of knee flexion angle and were tested on four whole-body models including four to six knee degrees of freedom. A musculoskeletal model developed in OpenSim simulation software was constrained to these in vivo boundaries during level gait and inverse kinematics and dynamics were then resolved. Statistical parametric mapping indicated significant differences (p<0.05) in kinematics between bone pin constrained and unconstrained model conditions, notably in knee translations, while hip and ankle flexion/extension angles were also affected, indicating the error at the knee propagates to surrounding joints. These changes to hip, knee, and ankle kinematics led to measurable changes in hip and knee transverse plane moments, and knee frontal plane moments and forces. Since knee flexion angle can be validly represented using skin mounted markers, our tool uses this reliable measure to guide the five other degrees of freedom at the knee and provide a more valid representation of the kinematics for these degrees of freedom. Copyright © 2017 Elsevier Ltd. All rights reserved.

Late Cenozoic Vertical Motions of the Coachella Valley Using Apatite U-Th/He and 4/3He Thermochronometry

NASA Astrophysics Data System (ADS)

Mason, C. C.; Spotila, J. A.; Fame, M. L.; Dorsey, R. J.; Shuster, D. L.

2015-12-01

The Coachella Valley of southern California (USA) is a late Cenozoic transform-related sedimentary basin created by top-to-the-east extension on the West Salton detachment fault and dextral strike-slip offset on the San Andreas fault (Axen and Fletcher, 1998), which has continued to subside as a result of northeastward tilting since initiation of the San Jacinto fault ca. 1.2 Ma. Though it is generally agreed that these large regional faults are responsible for creation of high relief and deep subsidence in the Coachella Valley, the timing, magnitude, and geometries of fault offsets on these structures are still debated. This project applies an integrated source-to-sink approach to investigate tectonic models for evolution of the Pacific-North American plate boundary as recorded in the world-class natural laboratory of the Coachella Valley. In this study we integrate new thermochronometry-constrained kinematic models with tectonostratigraphic interpretations to help quantify the timing, rates, and magnitudes of tectonically driven vertical crustal motions and resulting mass fluxes. We sampled bedrock for U-Th/He (A-He) thermochronometry in the Mecca Hills, Santa Rosa, San Jacinto, and Little San Bernardino Mountains in both spatially focused and widely distributed areas. We also present new results from apatite 4/3He thermochronometry to help constrain the most recent exhumation histories. A-He results reveal spatially variable exhumation ages. The southwest Santa Rosa Mountains experienced late Miocene-early Pliocene exhumation along their southwest flank, while new A-He ages from ranges bounding Coachella Valley reveal complex uplift histories. We integrate our data set with previously published thermochronometric data to improve a regional synthesis of late Cenozoic vertical motions of the Coachella Valley.

Analytical investigations in aircraft and spacecraft trajectory optimization and optimal guidance

NASA Technical Reports Server (NTRS)

Markopoulos, Nikos; Calise, Anthony J.

1995-01-01

A collection of analytical studies is presented related to unconstrained and constrained aircraft (a/c) energy-state modeling and to spacecraft (s/c) motion under continuous thrust. With regard to a/c unconstrained energy-state modeling, the physical origin of the singular perturbation parameter that accounts for the observed 2-time-scale behavior of a/c during energy climbs is identified and explained. With regard to the constrained energy-state modeling, optimal control problems are studied involving active state-variable inequality constraints. Departing from the practical deficiencies of the control programs for such problems that result from the traditional formulations, a complete reformulation is proposed for these problems which, in contrast to the old formulation, will presumably lead to practically useful controllers that can track an inequality constraint boundary asymptotically, and even in the presence of 2-sided perturbations about it. Finally, with regard to s/c motion under continuous thrust, a thrust program is proposed for which the equations of 2-dimensional motion of a space vehicle in orbit, viewed as a point mass, afford an exact analytic solution. The thrust program arises under the assumption of tangential thrust from the costate system corresponding to minimum-fuel, power-limited, coplanar transfers between two arbitrary conics. The thrust program can be used not only with power-limited propulsion systems, but also with any propulsion system capable of generating continuous thrust of controllable magnitude, and, for propulsion types and classes of transfers for which it is sufficiently optimal the results of this report suggest a method of maneuvering during planetocentric or heliocentric orbital operations, requiring a minimum amount of computation; thus uniquely suitable for real-time feedback guidance implementations.

The Mass of the Milky Way via HST Proper Motions of Satellite Objects

NASA Astrophysics Data System (ADS)

Sohn, Sangmo Tony; van der Marel, Roeland

2018-01-01

The Universe evolves hierarchically with small structures merging and falling in to form bigger structures. Due to its proximity, the Milky Way (MW) is the best place to witness and study these hierarchical processes in action as evidenced by e.g., the many stellar streams found in MW halo. Stellar systems in the MW halo have therefore become the benchmark for testing many aspects of cosmological theories. Despite the advances in both observational and theoretical areas in the last decade or so, the total mass and mass profile of the MW still remain poorly constrained, mainly due to the limited information on the transverse motions of satellite objects in the MW halo. As part of our HSTPROMO collaboration, we have been measuring proper motions of stars, globular clusters, and satellite galaxies in the MW halo to remedy this situation. In this contribution, I will present results from our recent studies, and report our progress of ongoing projects.

DISCO: A 3D Moving-mesh Magnetohydrodynamics Code Designed for the Study of Astrophysical Disks

NASA Astrophysics Data System (ADS)

Duffell, Paul C.

2016-09-01

This work presents the publicly available moving-mesh magnetohydrodynamics (MHD) code DISCO. DISCO is efficient and accurate at evolving orbital fluid motion in two and three dimensions, especially at high Mach numbers. DISCO employs a moving-mesh approach utilizing a dynamic cylindrical mesh that can shear azimuthally to follow the orbital motion of the gas. The moving mesh removes diffusive advection errors and allows for longer time-steps than a static grid. MHD is implemented in DISCO using an HLLD Riemann solver and a novel constrained transport (CT) scheme that is compatible with the mesh motion. DISCO is tested against a wide variety of problems, which are designed to test its stability, accuracy, and scalability. In addition, several MHD tests are performed which demonstrate the accuracy and stability of the new CT approach, including two tests of the magneto-rotational instability, one testing the linear growth rate and the other following the instability into the fully turbulent regime.

Progress in high-level exploratory vision

NASA Astrophysics Data System (ADS)

Brand, Matthew

1993-08-01

We have been exploring the hypothesis that vision is an explanatory process, in which causal and functional reasoning about potential motion plays an intimate role in mediating the activity of low-level visual processes. In particular, we have explored two of the consequences of this view for the construction of purposeful vision systems: Causal and design knowledge can be used to (1) drive focus of attention, and (2) choose between ambiguous image interpretations. An important result of visual understanding is an explanation of the scene's causal structure: How action is originated, constrained, and prevented, and what will happen in the immediate future. In everyday visual experience, most action takes the form of motion, and most causal analysis takes the form of dynamical analysis. This is even true of static scenes, where much of a scene's interest lies in how possible motions are arrested. This paper describes our progress in developing domain theories and visual processes for the understanding of various kinds of structured scenes, including structures built out of children's constructive toys and simple mechanical devices.

Simulations of Ground Motion in Southern California based upon the Spectral-Element Method

NASA Astrophysics Data System (ADS)

Tromp, J.; Komatitsch, D.; Liu, Q.

2003-12-01

We use the spectral-element method to simulate ground motion generated by recent well-recorded small earthquakes in Southern California. Simulations are performed using a new sedimentary basin model that is constrained by hundreds of petroleum industry well logs and more than twenty thousand kilometers of seismic reflection profiles. The numerical simulations account for 3D variations of seismic wave speeds and density, topography and bathymetry, and attenuation. Simulations for several small recent events demonstrate that the combination of a detailed sedimentary basin model and an accurate numerical technique facilitates the simulation of ground motion at periods of 2 seconds and longer inside the Los Angeles basin and 6 seconds and longer elsewhere. Peak ground displacement, velocity and acceleration maps illustrate that significant amplification occurs in the basin. Centroid-Moment Tensor mechanisms are obtained based upon Pnl and surface waveforms and numerically calculated 3D Frechet derivatives. We use a combination of waveform and waveform-envelope misfit criteria, and facilitate pure double-couple or zero-trace moment-tensor inversions.

Stagger angle dependence of inertial and elastic coupling in bladed disks

NASA Technical Reports Server (NTRS)

Crawley, E. F.; Mokadam, D. R.

1984-01-01

Conditions which necessitate the inclusion of disk and shaft flexibility in the analysis of blade response in rotating blade-disk-shaft systems are derived in terms of nondimensional parameters. A simple semianalytical Rayleigh-Ritz model is derived in which the disk possesses all six rigid body degrees of freedom, which are elastically constrained by the shaft. Inertial coupling by the rigid body motion of the disk on a flexible shaft and out-of-plane elastic coupling due to disk flexure are included. Frequency ratios and mass ratios, which depend on the stagger angle, are determined for three typical rotors: a first stage high-pressure core compressor, a high bypass ratio fan, and an advanced turboprop. The stagger angle controls the degree of coupling in the blade-disk system. In the blade-disk-shaft system, the stagger angle determines whether blade-disk motion couples principally to the out-of-plane or in-plane motion of the disk on the shaft. The Ritz analysis shows excellent agreement with experimental results.

DISCO: A 3D MOVING-MESH MAGNETOHYDRODYNAMICS CODE DESIGNED FOR THE STUDY OF ASTROPHYSICAL DISKS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Duffell, Paul C., E-mail: duffell@berkeley.edu

2016-09-01

This work presents the publicly available moving-mesh magnetohydrodynamics (MHD) code DISCO. DISCO is efficient and accurate at evolving orbital fluid motion in two and three dimensions, especially at high Mach numbers. DISCO employs a moving-mesh approach utilizing a dynamic cylindrical mesh that can shear azimuthally to follow the orbital motion of the gas. The moving mesh removes diffusive advection errors and allows for longer time-steps than a static grid. MHD is implemented in DISCO using an HLLD Riemann solver and a novel constrained transport (CT) scheme that is compatible with the mesh motion. DISCO is tested against a wide varietymore » of problems, which are designed to test its stability, accuracy, and scalability. In addition, several MHD tests are performed which demonstrate the accuracy and stability of the new CT approach, including two tests of the magneto-rotational instability, one testing the linear growth rate and the other following the instability into the fully turbulent regime.« less

The Function and Organization of the Motor System Controlling Flight Maneuvers in Flies.

PubMed

Lindsay, Theodore; Sustar, Anne; Dickinson, Michael

2017-02-06

Animals face the daunting task of controlling their limbs using a small set of highly constrained actuators. This problem is particularly demanding for insects such as Drosophila, which must adjust wing motion for both quick voluntary maneuvers and slow compensatory reflexes using only a dozen pairs of muscles. To identify strategies by which animals execute precise actions using sparse motor networks, we imaged the activity of a complete ensemble of wing control muscles in intact, flying flies. Our experiments uncovered a remarkably efficient logic in which each of the four skeletal elements at the base of the wing are equipped with both large phasically active muscles capable of executing large changes and smaller tonically active muscles specialized for continuous fine-scaled adjustments. Based on the responses to a broad panel of visual motion stimuli, we have developed a model by which the motor array regulates aerodynamically functional features of wing motion. VIDEO ABSTRACT. Copyright © 2017 Elsevier Ltd. All rights reserved.

A neural basis for the spatial suppression of visual motion perception

PubMed Central

Liu, Liu D; Haefner, Ralf M; Pack, Christopher C

2016-01-01

In theory, sensory perception should be more accurate when more neurons contribute to the representation of a stimulus. However, psychophysical experiments that use larger stimuli to activate larger pools of neurons sometimes report impoverished perceptual performance. To determine the neural mechanisms underlying these paradoxical findings, we trained monkeys to discriminate the direction of motion of visual stimuli that varied in size across trials, while simultaneously recording from populations of motion-sensitive neurons in cortical area MT. We used the resulting data to constrain a computational model that explained the behavioral data as an interaction of three main mechanisms: noise correlations, which prevented stimulus information from growing with stimulus size; neural surround suppression, which decreased sensitivity for large stimuli; and a read-out strategy that emphasized neurons with receptive fields near the stimulus center. These results suggest that paradoxical percepts reflect tradeoffs between sensitivity and noise in neuronal populations. DOI: http://dx.doi.org/10.7554/eLife.16167.001 PMID:27228283

A statistical motion model based on biomechanical simulations for data fusion during image-guided prostate interventions.

PubMed

Hu, Yipeng; Morgan, Dominic; Ahmed, Hashim Uddin; Pendsé, Doug; Sahu, Mahua; Allen, Clare; Emberton, Mark; Hawkes, David; Barratt, Dean

2008-01-01

A method is described for generating a patient-specific, statistical motion model (SMM) of the prostate gland. Finite element analysis (FEA) is used to simulate the motion of the gland using an ultrasound-based 3D FE model over a range of plausible boundary conditions and soft-tissue properties. By applying principal component analysis to the displacements of the FE mesh node points inside the gland, the simulated deformations are then used as training data to construct the SMM. The SMM is used to both predict the displacement field over the whole gland and constrain a deformable surface registration algorithm, given only a small number of target points on the surface of the deformed gland. Using 3D transrectal ultrasound images of the prostates of five patients, acquired before and after imposing a physical deformation, to evaluate the accuracy of predicted landmark displacements, the mean target registration error was found to be less than 1.9 mm.

Results From the Imaging and Radiation Oncology Core Houston's Anthropomorphic Phantoms Used for Proton Therapy Clinical Trial Credentialing

DOE Office of Scientific and Technical Information (OSTI.GOV)

Taylor, Paige A., E-mail: pataylor@mdanderson.org; Kry, Stephen F.; Alvarez, Paola

Purpose: The purpose of this study was to summarize the findings of anthropomorphic proton phantom irradiations analyzed by the Imaging and Radiation Oncology Core Houston QA Center (IROC Houston). Methods and Materials: A total of 103 phantoms were irradiated by proton therapy centers participating in clinical trials. The anthropomorphic phantoms simulated heterogeneous anatomy of a head, liver, lung, prostate, and spine. Treatment plans included those for scattered, uniform scanning, and pencil beam scanning beam delivery modalities using 5 different treatment planning systems. For every phantom irradiation, point doses and planar doses were measured using thermoluminescent dosimeters (TLD) and film, respectively. Differencesmore » between measured and planned doses were studied as a function of phantom, beam delivery modality, motion, repeat attempt, treatment planning system, and date of irradiation. Results: The phantom pass rate (overall, 79%) was high for simple phantoms and lower for phantoms that introduced higher levels of difficulty, such as motion, multiple targets, or increased heterogeneity. All treatment planning systems overestimated dose to the target, compared to TLD measurements. Errors in range calculation resulted in several failed phantoms. There was no correlation between treatment planning system and pass rate. The pass rates for each individual phantom are not improving over time, but when individual institutions received feedback about failed phantom irradiations, pass rates did improve. Conclusions: The proton phantom pass rates are not as high as desired and emphasize potential deficiencies in proton therapy planning and/or delivery. There are many areas for improvement with the proton phantom irradiations, such as treatment planning system dose agreement, range calculations, accounting for motion, and irradiation of multiple targets.« less

Study of the IMRT interplay effect using a 4DCT Monte Carlo dose calculation.

PubMed

Jensen, Michael D; Abdellatif, Ady; Chen, Jeff; Wong, Eugene

2012-04-21

Respiratory motion may lead to dose errors when treating thoracic and abdominal tumours with radiotherapy. The interplay between complex multileaf collimator patterns and patient respiratory motion could result in unintuitive dose changes. We have developed a treatment reconstruction simulation computer code that accounts for interplay effects by combining multileaf collimator controller log files, respiratory trace log files, 4DCT images and a Monte Carlo dose calculator. Two three-dimensional (3D) IMRT step-and-shoot plans, a concave target and integrated boost were delivered to a 1D rigid motion phantom. Three sets of experiments were performed with 100%, 50% and 25% duty cycle gating. The log files were collected, and five simulation types were performed on each data set: continuous isocentre shift, discrete isocentre shift, 4DCT, 4DCT delivery average and 4DCT plan average. Analysis was performed using 3D gamma analysis with passing criteria of 2%, 2 mm. The simulation framework was able to demonstrate that a single fraction of the integrated boost plan was more sensitive to interplay effects than the concave target. Gating was shown to reduce the interplay effects. We have developed a 4DCT Monte Carlo simulation method that accounts for IMRT interplay effects with respiratory motion by utilizing delivery log files.

Technical Note: A novel leaf sequencing optimization algorithm which considers previous underdose and overdose events for MLC tracking radiotherapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wisotzky, Eric, E-mail: eric.wisotzky@charite.de, E-mail: eric.wisotzky@ipk.fraunhofer.de; O’Brien, Ricky; Keall, Paul J., E-mail: paul.keall@sydney.edu.au

2016-01-15

Purpose: Multileaf collimator (MLC) tracking radiotherapy is complex as the beam pattern needs to be modified due to the planned intensity modulation as well as the real-time target motion. The target motion cannot be planned; therefore, the modified beam pattern differs from the original plan and the MLC sequence needs to be recomputed online. Current MLC tracking algorithms use a greedy heuristic in that they optimize for a given time, but ignore past errors. To overcome this problem, the authors have developed and improved an algorithm that minimizes large underdose and overdose regions. Additionally, previous underdose and overdose events aremore » taken into account to avoid regions with high quantity of dose events. Methods: The authors improved the existing MLC motion control algorithm by introducing a cumulative underdose/overdose map. This map represents the actual projection of the planned tumor shape and logs occurring dose events at each specific regions. These events have an impact on the dose cost calculation and reduce recurrence of dose events at each region. The authors studied the improvement of the new temporal optimization algorithm in terms of the L1-norm minimization of the sum of overdose and underdose compared to not accounting for previous dose events. For evaluation, the authors simulated the delivery of 5 conformal and 14 intensity-modulated radiotherapy (IMRT)-plans with 7 3D patient measured tumor motion traces. Results: Simulations with conformal shapes showed an improvement of L1-norm up to 8.5% after 100 MLC modification steps. Experiments showed comparable improvements with the same type of treatment plans. Conclusions: A novel leaf sequencing optimization algorithm which considers previous dose events for MLC tracking radiotherapy has been developed and investigated. Reductions in underdose/overdose are observed for conformal and IMRT delivery.« less

Social Security: A Present Value Analysis of Old Age Survivors Insurance (OASI) Taxes and Benefits.

DTIC Science & Technology

1995-12-01

private sector plans and provides a spreadsheet model for making this comparison of plans using different assumptions. The investigation was done by collecting data from various books, Government publications, and various Government agencies to conduct a spreadsheet analysis of three different wage-earning groups, assuming various real interest rates potentially earned in the private sector . A comparison of Social Security with alternative private sector plans is important to the DoD/DoN because less constrained budgets could

Four years experience in APMS star plate processing - Results and future plans. [Automated Proper Motion Study

NASA Technical Reports Server (NTRS)

Newcomb, J. S.

1975-01-01

The present paper describes an automated system for measuring stellar proper motions on the basis of information contained in photographic plates. In this system, the images on a star plate are digitized by a scanning microdensitometer using light from a He-Ne gas laser, and a special-purpose computer arranges the measurements in computer-compatible form on magnetic tape. The scanning and image-reconstruction processes are briefly outlined, and the image-evaluation techniques are discussed. It is shown that the present system has been especially successful in measuring the proper motions of low-luminosity stars, including 119 stars with less than 1/10,000 of the solar bolometric luminosity. Plans for measurements of high-density Milky Way star plates are noted.

An inexact chance-constrained programming model for water quality management in Binhai New Area of Tianjin, China.

PubMed

Xie, Y L; Li, Y P; Huang, G H; Li, Y F; Chen, L R

2011-04-15

In this study, an inexact-chance-constrained water quality management (ICC-WQM) model is developed for planning regional environmental management under uncertainty. This method is based on an integration of interval linear programming (ILP) and chance-constrained programming (CCP) techniques. ICC-WQM allows uncertainties presented as both probability distributions and interval values to be incorporated within a general optimization framework. Complexities in environmental management systems can be systematically reflected, thus applicability of the modeling process can be highly enhanced. The developed method is applied to planning chemical-industry development in Binhai New Area of Tianjin, China. Interval solutions associated with different risk levels of constraint violation have been obtained. They can be used for generating decision alternatives and thus help decision makers identify desired policies under various system-reliability constraints of water environmental capacity of pollutant. Tradeoffs between system benefits and constraint-violation risks can also be tackled. They are helpful for supporting (a) decision of wastewater discharge and government investment, (b) formulation of local policies regarding water consumption, economic development and industry structure, and (c) analysis of interactions among economic benefits, system reliability and pollutant discharges. Copyright © 2011 Elsevier B.V. All rights reserved.

Quantifying the interplay effect in prostate IMRT delivery using a convolution-based method.

PubMed

Li, Haisen S; Chetty, Indrin J; Solberg, Timothy D

2008-05-01

The authors present a segment-based convolution method to account for the interplay effect between intrafraction organ motion and the multileaf collimator position for each particular segment in intensity modulated radiation therapy (IMRT) delivered in a step-and-shoot manner. In this method, the static dose distribution attributed to each segment is convolved with the probability density function (PDF) of motion during delivery of the segment, whereas in the conventional convolution method ("average-based convolution"), the static dose distribution is convolved with the PDF averaged over an entire fraction, an entire treatment course, or even an entire patient population. In the case of IMRT delivered in a step-and-shoot manner, the average-based convolution method assumes that in each segment the target volume experiences the same motion pattern (PDF) as that of population. In the segment-based convolution method, the dose during each segment is calculated by convolving the static dose with the motion PDF specific to that segment, allowing both intrafraction motion and the interplay effect to be accounted for in the dose calculation. Intrafraction prostate motion data from a population of 35 patients tracked using the Calypso system (Calypso Medical Technologies, Inc., Seattle, WA) was used to generate motion PDFs. These were then convolved with dose distributions from clinical prostate IMRT plans. For a single segment with a small number of monitor units, the interplay effect introduced errors of up to 25.9% in the mean CTV dose compared against the planned dose evaluated by using the PDF of the entire fraction. In contrast, the interplay effect reduced the minimum CTV dose by 4.4%, and the CTV generalized equivalent uniform dose by 1.3%, in single fraction plans. For entire treatment courses delivered in either a hypofractionated (five fractions) or conventional (> 30 fractions) regimen, the discrepancy in total dose due to interplay effect was negligible.

SU-E-J-181: Effect of Prostate Motion On Combined Brachytherapy and External Beam Dose Based On Daily Motion of the Prostate

DOE Office of Scientific and Technical Information (OSTI.GOV)

Narayana, V; McLaughlin, P; University of Michigan, Ann Arbor, MI

2015-06-15

Purpose: In this study, the adequacy of target expansions on the combined external beam and implant dose was examined based on the measured daily motion of the prostate. Methods: Thirty patients received an I–125 prostate implant prescribed to dose of 90Gy. This was followed by external beam to deliver a dose of 90Gyeq (external beam equivalent) to the prostate over 25 to 30 fractions. An ideal IMRT plan was developed by optimizing the external beam dose based on the delivered implant dose. The implant dose was converted to an equivalent external beam dose using the linear quadratic model. Patients weremore » set up on the treatment table by daily orthogonal imaging and aligning the marker seeds in the prostate. Orthogonal images were obtained at the end of treatment to assess prostate intrafraction motion. Based on the observed motion of the markers between the initial and final images, 5 individual plans showing the actual dose delivered to the patient were calculated. A final true dose distribution was established based on summing the implant dose and the 5 external beam plans. Dose to the prostate, seminal vesicles, lymphnodes and normal tissues, rectal wall, urethra and lower sphincter were calculated and compared to ideal. On 18 patients who were sexually active, dose to the corpus cavernosum and internal pudendal artery was also calculated. Results: The average prostate motion in 3 orthogonal directions was less than 1 mm with a standard deviation of less than +2 mm. Dose and volume parameters showed that there was no decrease in dose to the targets and a marginal decrease in dose to in normal tissues. Conclusion: Dose delivered by seed implant moves with the prostate, decreasing the impact of intrafractions dose movement on actual dose delivered. Combined brachytherapy and external beam dose delivered to the prostate was not sensitive to prostate motion.« less

Far-field mission planning for nap-of-the-earth flight

NASA Technical Reports Server (NTRS)

Deutsch, Owen L.; Desai, Mukund; Mcgee, Leonard A.

1987-01-01

In the face of numerically superior hostile forces, deployment of individual vehicles to the right place, at the right time, and the ability to plan missions with less conservatism, will become significant force multipliers. Far-field mission planning is one of the enabling technologies that will facilitate force coordination through management of mission timeline, vehicle survivability and fuel constraints. On-board replanning is required to deal responsively with departures from nominal plan execution that result from imperfect knowledge of and temporal variability in the mission environment. The far-field planning problem is posed as a constrained optimization problem and algorithms and structural organization are proposed for the solution.

Inertial Measures of Motion for Clinical Biomechanics: Comparative Assessment of Accuracy under Controlled Conditions - Effect of Velocity

PubMed Central

Lebel, Karina; Boissy, Patrick; Hamel, Mathieu; Duval, Christian

2013-01-01

Background Inertial measurement of motion with Attitude and Heading Reference Systems (AHRS) is emerging as an alternative to 3D motion capture systems in biomechanics. The objectives of this study are: 1) to describe the absolute and relative accuracy of multiple units of commercially available AHRS under various types of motion; and 2) to evaluate the effect of motion velocity on the accuracy of these measurements. Methods The criterion validity of accuracy was established under controlled conditions using an instrumented Gimbal table. AHRS modules were carefully attached to the center plate of the Gimbal table and put through experimental static and dynamic conditions. Static and absolute accuracy was assessed by comparing the AHRS orientation measurement to those obtained using an optical gold standard. Relative accuracy was assessed by measuring the variation in relative orientation between modules during trials. Findings Evaluated AHRS systems demonstrated good absolute static accuracy (mean error < 0.5o) and clinically acceptable absolute accuracy under condition of slow motions (mean error between 0.5o and 3.1o). In slow motions, relative accuracy varied from 2o to 7o depending on the type of AHRS and the type of rotation. Absolute and relative accuracy were significantly affected (p<0.05) by velocity during sustained motions. The extent of that effect varied across AHRS. Interpretation Absolute and relative accuracy of AHRS are affected by environmental magnetic perturbations and conditions of motions. Relative accuracy of AHRS is mostly affected by the ability of all modules to locate the same global reference coordinate system at all time. Conclusions Existing AHRS systems can be considered for use in clinical biomechanics under constrained conditions of use. While their individual capacity to track absolute motion is relatively consistent, the use of multiple AHRS modules to compute relative motion between rigid bodies needs to be optimized according to the conditions of operation. PMID:24260324

Virtual remote center of motion control for needle placement robots.

PubMed

Boctor, Emad M; Webster, Robert J; Mathieu, Herve; Okamura, Allison M; Fichtinger, Gabor

2004-01-01

We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM). The algorithm requires only online tracking of the surgical tool and a five-degree-of-freedom (5-DOF) robot comprising three prismatic DOF and two rotational DOF. An incremental adaptive motion control cycle guides the needle to the insertion point and also orients it to align with the target-entry-point line. The robot executes RCM motion without having a physically constrained fulcrum point. The proof-of-concept prototype system achieved 0.78 mm translation accuracy and 1.4 degrees rotational accuracy (this is within the tracker accuracy) within 17 iterative steps (0.5-1 s). This research enables robotic assistant systems for image-guided percutaneous procedures to be prototyped/constructed more quickly and less expensively than has been previously possible. Since the clinical utility of such systems is clear and has been demonstrated in the literature, our work may help promote widespread clinical adoption of this technology by lowering system cost and complexity.

Vertical motions in Northern Victoria Land inferred from GPS: A comparison with a glacial isostatic adjustment model

USGS Publications Warehouse

Mancini, F.; Negusini, M.; Zanutta, A.; Capra, A.

2007-01-01

Following the densification of GPS permanent and episodic trackers in Antarctica, geodetic observations are playing an increasing role in geodynamics research and the study of the glacial isostatic adjustment (GIA). The improvement in geodetic measurements accuracy suggests their use in constraining GIA models. It is essential to have a deeper knowledge on the sensitivity of GPS data to motionsrelated to long-term ice mass changes and the present-day mass imbalance of the ice sheets. In order to investigate the geodynamic phenomena in Northern Victoria Land (NVL), GPS geodetic observations were made during the last decade within the VLNDEF (Victoria Land Network for Deformation control) project. The processed data provided a picture of the motions occurring in NVL with a high level of accuracy and depicts, for the whole period, a well defined pattern of vertical motion. The comparison between GPS-derived vertical displacementsand GIA is addressed, showing a good degree of agreement and highlighting the future use of geodetic GPS measurements as constraints in GIA models. In spite of this agreement, the sensitivity of GPS vertical rates to non-GIA vertical motions has to be carefully evaluated.

A Multi-wavelength Study of an Isolated MSP Bow Shock

NASA Astrophysics Data System (ADS)

Romani, Roger W.; Slane, Patrick; Green, Andrew

2017-08-01

PSR J2124-3358 is the only single MSP known to sport an Halpha bow shock. This shock, now also seen in the UV, encloses an unusual X-ray pulsar wind nebula (PWN) with a long off-axis trail. Combining the X-ray and UV images with AAT/KOALA integral field spectroscopy of the Halpha emission, we have an unusually complete picture of the pulsar's (101 km/s transverse) motion and the latitudinal distribution of its wind flux. These images reveal the 3-D orientation of a hard-spectrum PWN jet and a softer equatorial outflow. Within the context of a thin shock model, we can constrain the total energy output of the pulsar and the neutron star moment of inertia. The IFU spectra show extreme Balmer dominance, which also constrains the nature of the UV shock emission.

An interval chance-constrained fuzzy modeling approach for supporting land-use planning and eco-environment planning at a watershed level.

PubMed

Ou, Guoliang; Tan, Shukui; Zhou, Min; Lu, Shasha; Tao, Yinghui; Zhang, Zuo; Zhang, Lu; Yan, Danping; Guan, Xingliang; Wu, Gang

2017-12-15

An interval chance-constrained fuzzy land-use allocation (ICCF-LUA) model is proposed in this study to support solving land resource management problem associated with various environmental and ecological constraints at a watershed level. The ICCF-LUA model is based on the ICCF (interval chance-constrained fuzzy) model which is coupled with interval mathematical model, chance-constrained programming model and fuzzy linear programming model and can be used to deal with uncertainties expressed as intervals, probabilities and fuzzy sets. Therefore, the ICCF-LUA model can reflect the tradeoff between decision makers and land stakeholders, the tradeoff between the economical benefits and eco-environmental demands. The ICCF-LUA model has been applied to the land-use allocation of Wujiang watershed, Guizhou Province, China. The results indicate that under highly land suitable conditions, optimized area of cultivated land, forest land, grass land, construction land, water land, unused land and landfill in Wujiang watershed will be [5015, 5648] hm 2 , [7841, 7965] hm 2 , [1980, 2056] hm 2 , [914, 1423] hm 2 , [70, 90] hm 2 , [50, 70] hm 2 and [3.2, 4.3] hm 2 , the corresponding system economic benefit will be between 6831 and 7219 billion yuan. Consequently, the ICCF-LUA model can effectively support optimized land-use allocation problem in various complicated conditions which include uncertainties, risks, economic objective and eco-environmental constraints. Copyright © 2017 Elsevier Ltd. All rights reserved.

A two‐point scheme for optimal breast IMRT treatment planning

PubMed Central

2013-01-01

We propose an approach to determining optimal beam weights in breast/chest wall IMRT treatment plans. The goal is to decrease breathing effect and to maximize skin dose if the skin is included in the target or, otherwise, to minimize the skin dose. Two points in the target are utilized to calculate the optimal weights. The optimal plan (i.e., the plan with optimal beam weights) consists of high energy unblocked beams, low energy unblocked beams, and IMRT beams. Six breast and five chest wall cases were retrospectively planned with this scheme in Eclipse, including one breast case where CTV was contoured by the physician. Compared with 3D CRT plans composed of unblocked and field‐in‐field beams, the optimal plans demonstrated comparable or better dose uniformity, homogeneity, and conformity to the target, especially at beam junction when supraclavicular nodes are involved. Compared with nonoptimal plans (i.e., plans with nonoptimized weights), the optimal plans had better dose distributions at shallow depths close to the skin, especially in cases where breathing effect was taken into account. This was verified with experiments using a MapCHECK device attached to a motion simulation table (to mimic motion caused by breathing). PACS number: 87.55 de PMID:24257291

Differential Motion Between Mediastinal Lymph Nodes and Primary Tumor in Radically Irradiated Lung Cancer Patients

DOE Office of Scientific and Technical Information (OSTI.GOV)

Schaake, Eva E.; Department of Radiation Oncology, The Netherlands Cancer Institute, Amsterdam; Rossi, Maddalena M.G.

2014-11-15

Purpose/Objective: In patients with locally advanced lung cancer, planning target volume margins for mediastinal lymph nodes and tumor after a correction protocol based on bony anatomy registration typically range from 1 to 1.5 cm. Detailed information about lymph node motion variability and differential motion with the primary tumor, however, is lacking from large series. In this study, lymph node and tumor position variability were analyzed in detail and correlated to the main carina to evaluate possible margin reduction. Methods and Materials: Small gold fiducial markers (0.35 × 5 mm) were placed in the mediastinal lymph nodes of 51 patients with non-small cell lung cancermore » during routine diagnostic esophageal or bronchial endoscopic ultrasonography. Four-dimensional (4D) planning computed tomographic (CT) and daily 4D cone beam (CB) CT scans were acquired before and during radical radiation therapy (66 Gy in 24 fractions). Each CBCT was registered in 3-dimensions (bony anatomy) and 4D (tumor, marker, and carina) to the planning CT scan. Subsequently, systematic and random residual misalignments of the time-averaged lymph node and tumor position relative to the bony anatomy and carina were determined. Additionally, tumor and lymph node respiratory amplitude variability was quantified. Finally, required margins were quantified by use of a recipe for dual targets. Results: Relative to the bony anatomy, systematic and random errors ranged from 0.16 to 0.32 cm for the markers and from 0.15 to 0.33 cm for the tumor, but despite similar ranges there was limited correlation (0.17-0.71) owing to differential motion. A large variability in lymph node amplitude between patients was observed, with an average motion of 0.56 cm in the cranial-caudal direction. Margins could be reduced by 10% (left-right), 27% (cranial-caudal), and 10% (anteroposterior) for the lymph nodes and −2%, 15%, and 7% for the tumor if an online carina registration protocol replaced a protocol based on bony anatomy registration. Conclusions: Detailed analysis revealed considerable lymph node position variability, differential motion, and respiratory motion. Planning target volume margins can be reduced up to 27% in lung cancer patients when the carina registration replaces bony anatomy registration.« less

Plan View Pattern Control for Steel Plates through Constrained Locally Weighted Regression

NASA Astrophysics Data System (ADS)

Shigemori, Hiroyasu; Nambu, Koji; Nagao, Ryo; Araki, Tadashi; Mizushima, Narihito; Kano, Manabu; Hasebe, Shinji

A technique for performing parameter identification in a locally weighted regression model using foresight information on the physical properties of the object of interest as constraints was proposed. This method was applied to plan view pattern control of steel plates, and a reduction of shape nonconformity (crop) at the plate head end was confirmed by computer simulation based on real operation data.

New Constraints on Baja California-North America Relative Plate Motion Since 11 Ma

NASA Astrophysics Data System (ADS)

Bennett, S. E.; Skinner, L. A.; Darin, M. H.; Umhoefer, P. J.; Oskin, M. E.; Dorsey, R. J.

2013-12-01

Tectonic reconstructions of the Pacific-North America (PAC-NAM) plate boundary across the Gulf of California and Salton Trough (GCAST) constrain the controversial magnitude of Baja California microplate-North America (BCM-NAM) relative motion since middle Miocene time. We use estimates of total PAC-NAM relative dextral-oblique motion from the updated global plate-circuit model (Atwater and Stock, 2013; GSA Cordilleran Mtg) to resolve the proportion of this motion on faults east of the BCM. Modern GPS studies and offset of late Miocene cross-gulf geologic tie points both suggest that BCM has never been completely coupled to the Pacific plate. Thus, our preferred GCAST reconstruction uses 93% BCM-PAC coupling from the present back to 6 Ma. We assume BCM-PAC coupling of 60% between 6 and 7 Ma, and 25% between 7 and 11 Ma, to avoid unacceptable overlap of continental crustal blocks between Baja California and the Sierra Madre Occidental (on stable NAM). Using these coupling ratios and PAC-NAM stage Euler poles, we determine the azimuth and velocity of individual points on the BCM in 1 million year increments back to 11 Ma. This procedure accounts for minor clockwise rotation of BCM that occurred during oblique rifting, and shows how total BCM-NAM relative motion increases from north to south due to greater distance from the Euler pole. Finer-scale restoration of tectonic blocks along significant (>1 km offset) faults, across extensional (e.g. pull-apart and half-graben) basins, and by vertical-axis rotation is constrained by local geologic and marine-geophysical datasets and accomplished via the open-source Tectonic Reconstruct ArcGIS tool. We find that restoration across the Gulf of California completely closes marine basins and their terrestrial predecessors between 6 and 9 Ma. Latest Miocene opening of these basins was coincident with a ~10° clockwise azimuthal change from 8 to 6 Ma in PAC-NAM relative motion, as revealed by the global plate circuit model. The coupling ratios used in our reconstruction produce important changes in BCM-NAM relative motion, where a point at the latitude of the Guaymas rift corridor experienced a ~10° clockwise azimuthal change from ~119° to ~129° between 8 and 6 Ma, and a ~27 mm/yr rifting rate increase from ~13 to ~40 mm/yr between 9 and 6 Ma. This increase in obliquity and rate of rifting likely drove localization of plate boundary strain into the North American continent and ultimately formed the Gulf of California. Initiation of these basins ca. 9 Ma requires that the residual ~20 - 40 km of dextral-oblique motion from 9 to 11 Ma occurred immediately offshore or east of the present-day Sonora-Sinaloa shoreline on as-yet undocumented structures. Total preferred BCM-NAM dextral-oblique motion since 11 Ma varies from ~385 km in the southern Gulf of California to ~365 km at the Midriff Islands. These values and the south-north gradient are consistent with recent estimates of ~340 × 40 km of relative dextral plate motion across southern California and the Eastern California Shear Zone. Attempts to restore larger amounts (e.g. 450 - 500 km) of BCM-NAM motion require a higher percent of late Miocene BCM-PAC coupling and result in unacceptable overlap between continental tectonic blocks in western Sonora and Sinaloa and submerged, extended continental crust in the southern Gulf of California.

Nonholonomic diffusion of a stochastic sled

NASA Astrophysics Data System (ADS)

Jung, Peter; Marchegiani, Giampiero; Marchesoni, Fabio

2016-01-01

A sled is a stylized mechanical model of a system which is constrained to move in space in a specific orientation, i.e., in the direction of the runners of the sled or a blade. The negation of motion transverse to the runners renders the sled a nonholonomic mechanical system. In this paper we report on the unexpected and fascinating richness of the dynamics of such a sled if it is subject to random forces. Specifically we show that the ensuing random dynamics is characterized by relatively smooth sections of motion interspersed by episodes of persistent tumbling (change of orientation) and sharp reversals resembling the random walks of bacterial cells. In the presence of self-propulsion, the diffusivity of the sled can be enhanced and suppressed depending on the directionality and strength of the propulsive force.

Emergent vortices in populations of colloidal rollers

PubMed Central

Bricard, Antoine; Caussin, Jean-Baptiste; Das, Debasish; Savoie, Charles; Chikkadi, Vijayakumar; Shitara, Kyohei; Chepizhko, Oleksandr; Peruani, Fernando; Saintillan, David; Bartolo, Denis

2015-01-01

Coherent vortical motion has been reported in a wide variety of populations including living organisms (bacteria, fishes, human crowds) and synthetic active matter (shaken grains, mixtures of biopolymers), yet a unified description of the formation and structure of this pattern remains lacking. Here we report the self-organization of motile colloids into a macroscopic steadily rotating vortex. Combining physical experiments and numerical simulations, we elucidate this collective behaviour. We demonstrate that the emergent-vortex structure lives on the verge of a phase separation, and single out the very constituents responsible for this state of polar active matter. Building on this observation, we establish a continuum theory and lay out a strong foundation for the description of vortical collective motion in a broad class of motile populations constrained by geometrical boundaries. PMID:26088835

A variational approach to dynamics of flexible multibody systems

NASA Technical Reports Server (NTRS)

Wu, Shih-Chin; Haug, Edward J.; Kim, Sung-Soo

1989-01-01

This paper presents a variational formulation of constrained dynamics of flexible multibody systems, using a vector-variational calculus approach. Body reference frames are used to define global position and orientation of individual bodies in the system, located and oriented by position of its origin and Euler parameters, respectively. Small strain linear elastic deformation of individual components, relative to their body references frames, is defined by linear combinations of deformation modes that are induced by constraint reaction forces and normal modes of vibration. A library of kinematic couplings between flexible and/or rigid bodies is defined and analyzed. Variational equations of motion for multibody systems are obtained and reduced to mixed differential-algebraic equations of motion. A space structure that must deform during deployment is analyzed, to illustrate use of the methods developed.

Interaction between arthropod filiform hairs in a fluid enviroment

PubMed Central

Cummins, Bree; Gedeon, Tomáš; Klapper, Isaac; Cortez, Ricardo

2009-01-01

Many arthropods use filiform hairs as mechanoreceptors to detect air motion. In common house crickets (Acheta domestica) the hairs cover two antenna-like appendages called cerci at the rear of the abdomen. The biomechanical stimulus-response properties of individual filiform hairs have been investigated and modeled extensively in several earlier studies. However, only a few previous studies have considered viscosity-mediated coupling between pairs of hairs, and only in particular configurations. Here we present a model capable of calculating hair-to-hair coupling in arbitrary configurations. We simulate the coupled motion of a small group of mechanosensory hairs on a cylindrical section of cercus. We have found that the coupling effects are non-negligible, and likely constrain the operational characteristics of the cercal sensory array. PMID:17434184

Impact of Climatic Variability on Atmospheric Mass Distribution and GRACE-Derived Gravity Fields

NASA Technical Reports Server (NTRS)

Salstein, David A.; Rosen, Richard D.; Ponte, Rui M.; Frey, Herbert (Technical Monitor)

2003-01-01

During the period we calculated the atmospheric data sets related to its mass and angular momentum distribution. For mass, we determined the various harmonics from the NCEP-NCAR reanalysis, especially the low-order harmonics that are useful in studying the gravitation distribution as will be determined from the GRACE mission. Atmospheric mass is also related to the atmospheric loading on the solid Earth; we cooperated with scientists who needed the atmospheric mass information for understanding its contributions to the overall loading, necessary for vertical and horizontal coordinate estimation. We calculated atmospheric angular momentum from the NCEP-NCAR reanalyses and 4 operational meteorological centers, based on the motion (wind) terms and the mass (surface pressure) terms. These are associated with motions of the planet, including its axial component causing changes in the length of day, more related to the winds, and the equatorial component related to motions of the pole, more related to the mass. Tasks related to the ocean mass and angular momentum were added to the project as well. For these we have noted the ocean impact on motions of the pole as well as the torque mechanisms that relate the transfer of angular momentum between oceans and solid earth. The activities of the project may be summarized in the following first manuscript written in December 2002, for a symposium that Dr. Salstein attended on Geodynamics. We have continued to assess ocean angular momentum (OAM) quantities derived from bottom pressure and velocity fields estimated with our finite-difference barotropic (single layer) model. Three years of output (1993-95) from a run without any data constraints was compared to output from a corresponding run that was constrained by altimeter data using a Kalman filter and smoother scheme. Respective OAM time series were combined with corresponding atmospheric series and compared to observed polar motion. The constrained OAM series provided slightly better variance reduction than the unconstrained series. Analysis provided a check on the estimation scheme and pointed to further work to improve the determination of OAM using this method. A significant effort was also devoted to quantifying effects of uncertainties in high frequency winds on the mean and seasonal momentum exchange between atmosphere and oceans.

New Intensity Attenuation in Georgia

NASA Astrophysics Data System (ADS)

Tsereteli, N. S.; Varazanashvili, O.; Tibaldi, A.; Bonali, F.; Gogoladze, Z.; Kvavadze, N.; Kvedelidze, I.

2016-12-01

In seismic-prone zones, increase of urbanization and infrastructures in turn produces increase of seismic risk that is mainly related to: the level of seismic hazard itself, the seismic resistance of dwelling houses, and many other factors. The relevant objectives of the present work is to improve the regional seismic hazard maps of Georgia, by implementing state-of-the art probabilistic seismic hazard assessment techniques and outputs from recent national and international collaborations. Seismic zoning is the identification of zones of similar levels of earthquake hazard. With reference to seismic zoning by ground motion assessment, the shaking intensity essentially depends on i) regional seismicity, ii) attenuation of ground motion with distance, iii) local site effects on ground motion. In the last decade, seismic hazard assessment is presented in terms of Peak Ground Acceleration (PGA), Peak Ground Velocity (PGV), or other recorded parameters. But there are very limited strong motion dataset in Georgia. Furthermore, vulnerability of buildings still is estimated for intensity, and there are no information about correlation between the distribution of ground motion recorded parameters and damage. So, macroseimic Intensity is still a very important parameter for strong ground motion evaluation. In the present work, we calibrated intensity prediction equations (IPE) for the Georgian dataset based on about 78 reviewed earthquakes. Metadata for Intensity (MSK 64 scale) were constrained and predictionequations for various types of distance (epicentral and hypocentral distance, Joyner-Boore distance, closest distance to the fault rupture plane) were calibrated. Relations between intensity and PGA values were derived. For this we used hybrid-empirical ground motion equation derived for Georgia and run scenario earthquakes for events with macroseismic data.

Envelope statistics of self-motion signals experienced by human subjects during everyday activities: Implications for vestibular processing

PubMed Central

Carriot, Jérome; Jamali, Mohsen; Cullen, Kathleen E.

2017-01-01

There is accumulating evidence that the brain’s neural coding strategies are constrained by natural stimulus statistics. Here we investigated the statistics of the time varying envelope (i.e. a second-order stimulus attribute that is related to variance) of rotational and translational self-motion signals experienced by human subjects during everyday activities. We found that envelopes can reach large values across all six motion dimensions (~450 deg/s for rotations and ~4 G for translations). Unlike results obtained in other sensory modalities, the spectral power of envelope signals decreased slowly for low (< 2 Hz) and more sharply for high (>2 Hz) temporal frequencies and thus was not well-fit by a power law. We next compared the spectral properties of envelope signals resulting from active and passive self-motion, as well as those resulting from signals obtained when the subject is absent (i.e. external stimuli). Our data suggest that different mechanisms underlie deviation from scale invariance in rotational and translational self-motion envelopes. Specifically, active self-motion and filtering by the human body cause deviation from scale invariance primarily for translational and rotational envelope signals, respectively. Finally, we used well-established models in order to predict the responses of peripheral vestibular afferents to natural envelope stimuli. We found that irregular afferents responded more strongly to envelopes than their regular counterparts. Our findings have important consequences for understanding the coding strategies used by the vestibular system to process natural second-order self-motion signals. PMID:28575032

Constrained diffusion or immobile fraction on cell surfaces: a new interpretation.

PubMed Central

Feder, T J; Brust-Mascher, I; Slattery, J P; Baird, B; Webb, W W

1996-01-01

Protein lateral mobility in cell membranes is generally measured using fluorescence photobleaching recovery (FPR). Since the development of this technique, the data have been interpreted by assuming free Brownian diffusion of cell surface receptors in two dimensions, an interpretation that requires that a subset of the diffusing species remains immobile. The origin of this so-called immobile fraction remains a mystery. In FPR, the motions of thousands of particles are inherently averaged, inevitably masking the details of individual motions. Recently, tracking of individual cell surface receptors has identified several distinct types of motion (Gross and Webb, 1988; Ghosh and Webb, 1988, 1990, 1994; Kusumi et al. 1993; Qian et al. 1991; Slattery, 1995), thereby calling into question the classical interpretation of FPR data as free Brownian motion of a limited mobile fraction. We have measured the motion of fluorescently labeled immunoglobulin E complexed to high affinity receptors (Fc epsilon RI) on rat basophilic leukemia cells using both single particle tracking and FPR. As in previous studies, our tracking results show that individual receptors may diffuse freely, or may exhibit restricted, time-dependent (anomalous) diffusion. Accordingly, we have analyzed FPR data by a new model to take this varied motion into account, and we show that the immobile fraction may be due to particles moving with the anomalous subdiffusion associated with restricted lateral mobility. Anomalous subdiffusion denotes random molecular motion in which the mean square displacements grow as a power law in time with a fractional positive exponent less than one. These findings call for a new model of cell membrane structure. PMID:8744314

A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm

NASA Astrophysics Data System (ADS)

Zeng, Wenhui; Yi, Jin; Rao, Xiao; Zheng, Yun

2017-11-01

In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task's completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task's completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach.

Synchrony in Joint Action Is Directed by Each Participant’s Motor Control System

PubMed Central

Noy, Lior; Weiser, Netta; Friedman, Jason

2017-01-01

In this work, we ask how the probability of achieving synchrony in joint action is affected by the choice of motion parameters of each individual. We use the mirror game paradigm to study how changes in leader’s motion parameters, specifically frequency and peak velocity, affect the probability of entering the state of co-confidence (CC) motion: a dyadic state of synchronized, smooth and co-predictive motions. In order to systematically study this question, we used a one-person version of the mirror game, where the participant mirrored piece-wise rhythmic movements produced by a computer on a graphics tablet. We systematically varied the frequency and peak velocity of the movements to determine how these parameters affect the likelihood of synchronized joint action. To assess synchrony in the mirror game we used the previously developed marker of co-confident (CC) motions: smooth, jitter-less and synchronized motions indicative of co-predicative control. We found that when mirroring movements with low frequencies (i.e., long duration movements), the participants never showed CC, and as the frequency of the stimuli increased, the probability of observing CC also increased. This finding is discussed in the framework of motor control studies showing an upper limit on the duration of smooth motion. We confirmed the relationship between motion parameters and the probability to perform CC with three sets of data of open-ended two-player mirror games. These findings demonstrate that when performing movements together, there are optimal movement frequencies to use in order to maximize the possibility of entering a state of synchronized joint action. It also shows that the ability to perform synchronized joint action is constrained by the properties of our motor control systems. PMID:28443047

A synthetic GMPE based on deterministic simulated ground motion data obtained from dynamic rupture models

NASA Astrophysics Data System (ADS)

Dalguer, L. A.; Baumann, C.; Cauzzi, C.

2013-12-01

Empirical ground motion prediction in the very near-field and for large magnitudes is often based on extrapolation of ground motion prediction equations (GMPEs) outside the range where they are well constrained by recorded data. With empirical GMPEs it is also difficult to capture source-dominated ground motion patterns, such as the effects of velocity pulses induced by subshear and supershear rupture directivity, buried and surface-rupturing, hanging-wall and foot-wall, weak shallow layers, complex geometry faults and stress drop. A way to cope at least in part with these shortcomings is to augment the calibration datasets with synthetic ground motions. To this aim, physics-based dynamic rupture models - where the physical bases involved in the fault rupture are explicitly considered - appear to be a suitable approach to produce synthetic ground motions. In this contribution, we first perform an assessment of a database of synthetic ground motions generated by a suite of dynamic rupture simulations to verify compatibility of the peak ground amplitudes with current GMPEs. The synthetic data-set is composed by 360 earthquake scenarios with moment magnitudes in the range of 5.5-7, for three mechanisms of faulting (reverse, normal and strike-slip) and for both buried faults and surface rupturing faults. Second, we parameterise the synthetic dataset through a GMPE. For this purpose, we identify the basic functional forms by analyzing the variation of the synthetic peak ground motions and spectral ordinates as a function of different explanatory variables related to the earthquake source characteristics, in order to account for some of the source effects listed above. We argue that this study provides basic guidelines for the developments of future GMPEs including data from physics-based numerical simulations.

Temporally diffeomorphic cardiac motion estimation from three-dimensional echocardiography by minimization of intensity consistency error.

PubMed

Zhang, Zhijun; Ashraf, Muhammad; Sahn, David J; Song, Xubo

2014-05-01

Quantitative analysis of cardiac motion is important for evaluation of heart function. Three dimensional (3D) echocardiography is among the most frequently used imaging modalities for motion estimation because it is convenient, real-time, low-cost, and nonionizing. However, motion estimation from 3D echocardiographic sequences is still a challenging problem due to low image quality and image corruption by noise and artifacts. The authors have developed a temporally diffeomorphic motion estimation approach in which the velocity field instead of the displacement field was optimized. The optimal velocity field optimizes a novel similarity function, which we call the intensity consistency error, defined as multiple consecutive frames evolving to each time point. The optimization problem is solved by using the steepest descent method. Experiments with simulated datasets, images of anex vivo rabbit phantom, images of in vivo open-chest pig hearts, and healthy human images were used to validate the authors' method. Simulated and real cardiac sequences tests showed that results in the authors' method are more accurate than other competing temporal diffeomorphic methods. Tests with sonomicrometry showed that the tracked crystal positions have good agreement with ground truth and the authors' method has higher accuracy than the temporal diffeomorphic free-form deformation (TDFFD) method. Validation with an open-access human cardiac dataset showed that the authors' method has smaller feature tracking errors than both TDFFD and frame-to-frame methods. The authors proposed a diffeomorphic motion estimation method with temporal smoothness by constraining the velocity field to have maximum local intensity consistency within multiple consecutive frames. The estimated motion using the authors' method has good temporal consistency and is more accurate than other temporally diffeomorphic motion estimation methods.

New constraints on Neogene counter-clockwise rotation of Adria relative to Europe

NASA Astrophysics Data System (ADS)

Le Breton, Eline; Handy, Mark R.; Molli, Giancarlo; Ustaszewski, Kamil

2017-04-01

The Adriatic microplate (Adria) is a key player in the geodynamics of Alpine-Mediterranean belts because of its location between two converging plates, Europe and Africa. Most of Adria has been subducted and is presently surrounded by deformed margins comprising the Alps, Apennines, Dinarides and the Calabrian Arc. The Alps-Apennines and Alps-Dinarides junctions are marked by switches in subduction polarity, with Adria being the indenting upper plate in the Alps and the lower plate in the Apennines and Dinarides. Reconstructing Neogene motion and rotation of Adria is therefore key to understanding how such contrasting orogenic styles develop within a similar convergent tectonic regime. We propose a new kinematic reconstruction that balances shortening and extension in the northern Apennines; it reveals that Adria rotated counter-clockwise as it subducted beneath the European Plate to the west and to the east, while indenting the Alps to the north. Syn-collisional back-arc extension in the Liguro-Provençal and northern Tyrrhenian basins exceeds collisional shortening in the northern Apennines, indicating that after 20 Ma Adria and Europe diverged. When combined with existing estimates of Neogene shortening in the Western and Eastern Alps, this overall divergence in the Apennines constrains Adria to have moved to the NW while rotating counter-clockwise relative to Europe. We furthermore consider the length of the present Adriatic slab (135 km) imaged by P-wave tomography in the southern Dinarides to represent the maximum convergence since late Paleogene slab-breakoff, constraining Adria to have rotated 6.5˚ counter-clockwise about an axis in northwestern Italy. Thus, the best fit of available structural data from the Apennines, Alps and Dinarides constrains Adria to have moved 113 km to the NW (azimuth 325˚ ) while rotating 6.5˚ counter-clockwise relative to Europe since 20 Ma. Our model predicts some 80-100 km of Neogene extension between Adria and Africa, most likely accommodated along a NW-SE striking rift system on the African margin and by transtension along NW-SE striking transform faults in the Ionian Sea. We propose that this Neogene motion of Adria resulted from a combination of Africa pushing from the south, the Adriatic-Hellenic slab pulling to the northeast and crustal wedging in the Western Alps, which acted as a pivot and stopped further northwestward motion of Adria.

In vitro-analysis of kinematics and intradiscal pressures in cervical arthroplasty versus fusion--A biomechanical study in a sheep model with two semi-constrained prosthesis.

PubMed

Daentzer, Dorothea; Welke, Bastian; Hurschler, Christof; Husmann, Nathalie; Jansen, Christina; Flamme, Christian Heinrich; Richter, Berna Ida

2015-03-24

As an alternative technique to arthrodesis of the cervical spine, total disc replacement (TDR) has increasingly been used with the aim of restoration of the physiological function of the treated and adjacent motions segments. The purpose of this experimental study was to analyze the kinematics of the target level as well as of the adjacent segments, and to measure the pressures in the proximal and distal disc after arthrodesis as well as after arthroplasty with two different semi-constrained types of prosthesis. Twelve cadaveric ovine cervical spines underwent polysegmental (C2-5) multidirectional flexibility testing with a sensor-guided industrial serial robot. Additionally, pressures were recorded in the proximal and distal disc. The following three conditions were tested: (1) intact specimen, (2) single-level arthrodesis C3/4, (3) single-level TDR C3/4 using the Discover® in the first six specimens and the activ® C in the other six cadavers. Statistical analysis was performed for the total range of motion (ROM), the intervertebral ROM (iROM) and the intradiscal pressures (IDP) to compare both the three different conditions as well as the two disc prosthesis among each other. The relative iROM in the target level was always lowered after fusion in the three directions of motion. In almost all cases, the relative iROM of the adjacent segments was almost always higher compared to the physiologic condition. After arthroplasty, we found increased relative iROM in the treated level in comparison to intact state in almost all cases, with relative iROM in the adjacent segments observed to be lower in almost all situations. The IDP in both adjacent discs always increased in flexion and extension after arthrodesis. In all but five cases, the IDP in each of the adjacent level was decreased below the values of the intact specimens after TDR. Overall, in none of the analyzed parameters were statistically significantly differences between both types of prostheses investigated. The results of this biomechanical study indicate that single-level implantation of semi-constrained TDR lead to a certain hypermobility in the treated segments with lowering the ROM in the adjacent levels in almost all situations.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Beaudry, J.; Bergman, A.; British Columbia Cancer Agency - Vancouver Centre, Vancouver, BC

Lung tumours move due to respiratory motion. This is managed during planning by acquiring a 4DCT and capturing the excursion of the GTV (gross tumour volume) throughout the breathing cycle within an IGTV (Internal Gross Tumour Volume) contour. Patients undergo a verification cone-beam CT (CBCT) scan immediately prior to treatment. 3D reconstructed images do not consider tumour motion, resulting in image artefacts, such as blurring. This may lead to difficulty in identifying the tumour on reconstructed images. It would be valuable to create a 4DCBCT reconstruction of the tumour motion to confirm that does indeed remain within the planned IGTV.more » CBCT projections of a Quasar Respiratory Motion Phantom are acquired in Treatment mode (half-fan scan) on a Varian TrueBeam accelerator. This phantom contains a mobile, low-density lung insert with an embedded 3cm diameter tumour object. It is programmed to create a 15s periodic, 2cm (sup/inf) displacement. A Varian Real-time Position Management (RPM) tracking-box is placed on the phantom breathing platform. Breathing phase information is automatically integrated into the projection image files. Using in-house Matlab programs and RTK (Reconstruction Tool Kit) open-source toolboxes, the projections are re-binned into 10 phases and a 4DCBCT scan reconstructed. The planning IGTV is registered to the 4DCBCT and the tumour excursion is verified to remain within the planned contour. This technique successfully reconstructs 4DCBCT images using clinical modes for a breathing phantom. UBC-BCCA ethics approval has been obtained to perform 4DCBCT reconstructions on lung patients (REB#H12-00192). Clinical images will be accrued starting April 2014.« less

Guilt leads to enhanced facing-the-viewer bias

PubMed Central

Shen, Mowei; Zhu, Chengfeng; Liao, Huayu; Zhang, Haihang; Zhou, Jifan

2018-01-01

As an important moral emotion, guilt plays a critical role in social interaction. It has been found that people tended to exhibit prosocial behavior under circumstances of guilt. However, all extant studies have predominantly focused on the influence of guilt on macro-level behavior. So far, no study has investigated whether guilt affects people’s micro-level perception. The current study closes this gap by examining whether guilt affects one’s inclination to perceive approaching motion. We achieved this aim by probing a facing-the-viewer bias (FTV bias). Specifically, when an ambiguous walking biological motion display is presented to participants via the point-light display technique, participants tend to perceive a walking agent approaching them. We hypothesized that guilt modulated FTV bias. To test this hypothesis, we adopted a two-person situation induction task to induce guilt, whereby participants were induced to feel that because of their poor task performance, their partner did not receive a satisfactory payment. We found that when participants were told that the perceived biological motion was motion-captured from their partner, the FTV bias was significantly increased for guilty participants relative to neutral participants. However, when participants were informed that the perceived biological motion was from a third neutral agent, the FTV bias was not modulated by guilt. These results suggest that guilt influences one’s inclination to perceive approaching motion, but this effect is constrained to the person towards whom guilt is directed. PMID:29649338

Periodic organization of the contractile apparatus in smooth muscle revealed by the motion of dense bodies in single cells.

PubMed

Kargacin, G J; Cooke, P H; Abramson, S B; Fay, F S

1989-04-01

To study the organization of the contractile apparatus in smooth muscle and its behavior during shortening, the movement of dense bodies in contracting saponin skinned, isolated cells was analyzed from digital images collected at fixed time intervals. These cells were optically lucent so that punctate structures, identified immunocytochemically as dense bodies, were visible in them with the phase contrast microscope. Methods were adapted and developed to track the bodies and to study their relative motion. Analysis of their tracks or trajectories indicated that the bodies did not move passively as cells shortened and that nearby bodies often had similar patterns of motion. Analysis of the relative motion of the bodies indicated that some bodies were structurally linked to one another or constrained so that the distance between them remained relatively constant during contraction. Such bodies tended to fall into laterally oriented, semirigid groups found at approximately 6-microns intervals along the cell axis. Other dense bodies moved rapidly toward one another axially during contraction. Such bodies were often members of separate semirigid groups. This suggests that the semirigid groups of dense bodies in smooth muscle cells may provide a framework for the attachment of the contractile structures to the cytoskeleton and the cell surface and indicates that smooth muscle may be more well-ordered than previously thought. The methods described here for the analysis of the motion of intracellular structures should be directly applicable to the study of motion in other cell types.

Microplate model for the present-day deformation of Tibet

USGS Publications Warehouse

Thatcher, W.

2007-01-01

Site velocities from 349 Global Positioning System (GPS) stations are used to construct an 11-element quasi-rigid block model of the Tibetan Plateau and its surroundings. Rigid rotations of five major blocks are well determined, and average translation velocities of six smaller blocks can be constrained. Where data are well distributed the velocity field can be explained well by rigid block motion and fault slip across block boundaries. Residual misfits average 1.6 mm/yr compared to typical one standard deviation velocity uncertainties of 1.3 mm/yr. Any residual internal straining of the blocks is small and heterogeneous. However, residual substructure might well represent currently unresolved motions of smaller blocks. Although any smaller blocks must move at nearly the same rate as the larger blocks within which they lie, undetected relative motions between them could be significant, particularly where there are gaps in GPS coverage. Predicted relative motions between major blocks agree with the observed sense of slip and along-strike partitioning of motion across major faults. However, predicted slip rates across Tibet's major strike-slip faults are low, only 5-12 mm/yr, a factor of 2-3 smaller than most rates estimated from fault offset features dated by radiometric methods as ???2000 to ???100,000 year old. Previous work has suggested that both GPS data and low fault slip rates are incompatible with rigid block motions of Tibet. The results reported here overcome these objections.

Can earthquake source inversion benefit from rotational ground motion observations?

NASA Astrophysics Data System (ADS)

Igel, H.; Donner, S.; Reinwald, M.; Bernauer, M.; Wassermann, J. M.; Fichtner, A.

2015-12-01

With the prospects of instruments to observe rotational ground motions in a wide frequency and amplitude range in the near future we engage in the question how this type of ground motion observation can be used to solve seismic inverse problems. Here, we focus on the question, whether point or finite source inversions can benefit from additional observations of rotational motions. In an attempt to be fair we compare observations from a surface seismic network with N 3-component translational sensors (classic seismometers) with those obtained with N/2 6-component sensors (with additional colocated 3-component rotational motions). Thus we keep the overall number of traces constant. Synthetic seismograms are calculated for known point- or finite-source properties. The corresponding inverse problem is posed in a probabilistic way using the Shannon information content as a measure how the observations constrain the seismic source properties. The results show that with the 6-C subnetworks the source properties are not only equally well recovered (even that would be benefitial because of the substantially reduced logistics installing N/2 sensors) but statistically significant some source properties are almost always better resolved. We assume that this can be attributed to the fact the (in particular vertical) gradient information is contained in the additional rotational motion components. We compare these effects for strike-slip and normal-faulting type sources. Thus the answer to the question raised is a definite "yes". The challenge now is to demonstrate these effects on real data.

Reconciling surface plate motions with rapid three-dimensional mantle flow around a slab edge.

PubMed

Jadamec, Margarete A; Billen, Magali I

2010-05-20

The direction of tectonic plate motion at the Earth's surface and the flow field of the mantle inferred from seismic anisotropy are well correlated globally, suggesting large-scale coupling between the mantle and the surface plates. The fit is typically poor at subduction zones, however, where regional observations of seismic anisotropy suggest that the direction of mantle flow is not parallel to and may be several times faster than plate motions. Here we present three-dimensional numerical models of buoyancy-driven deformation with realistic slab geometry for the Alaska subduction-transform system and use them to determine the origin of this regional decoupling of flow. We find that near a subduction zone edge, mantle flow velocities can have magnitudes of more than ten times the surface plate motions, whereas surface plate velocities are consistent with plate motions and the complex mantle flow field is consistent with observations from seismic anisotropy. The seismic anisotropy observations constrain the shape of the eastern slab edge and require non-Newtonian mantle rheology. The incorporation of the non-Newtonian viscosity results in mantle viscosities of 10(17) to 10(18) Pa s in regions of high strain rate (10(-12) s(-1)), and this low viscosity enables the mantle flow field to decouple partially from the motion of the surface plates. These results imply local rapid transport of geochemical signatures through subduction zones and that the internal deformation of slabs decreases the slab-pull force available to drive subducting plates.

Differences between clinical "snap-shot" and "real-life" assessments of lumbar spine alignment and motion - What is the "real" lumbar lordosis of a human being?

PubMed

Dreischarf, Marcel; Pries, Esther; Bashkuev, Maxim; Putzier, Michael; Schmidt, Hendrik

2016-03-21

The individual lumbar lordosis and lumbar motion have been identified to play an important role in pathogenesis of low back pain and are essential references for preoperative planning and postoperative evaluation. The clinical "gold-standard" for measuring lumbar lordosis and its motion are radiological "snap-shots" taken while standing and during upper-body flexion and extension. The extent to which these clinically assessed values characterise lumbar alignment and its motion in daily life merits discussion. A non-invasive measurement-system was employed to measure lumbar lordosis and lumbar motion in 208 volunteers (age: 20-74yrs; ♀/♂: 115/93). For an initial short-term measurement, comparable with the clinical "snap-shot", lumbar lordosis and its motion were assessed while standing and during flexion and extension. Subsequently, volunteers were released to their daily lives while wearing the device, and measurements were performed during the following 24h. The average lumbar lordosis during 24h (8.0°) differed significantly from the standardised measurement while standing (33.3°). Ranges of motion were significantly different throughout the day compared to standing measurements. The influence of the factors age and gender on lordosis and its motion resulted in conflicting results between long- and short-term-measurements. In conclusion, results of short-term examinations differ considerably from the average values during real-life. These findings might be important for surgical planning and increase the awareness of the biomechanical challenges that spinal structures and implants face in real-life. Furthermore, long-term assessments of spinal alignment and motion during daily life can provide valid data on spinal function and can reveal the importance of influential factors. Copyright © 2016 Elsevier Ltd. All rights reserved.

Effects of constrained arm swing on vertical center of mass displacement during walking.

PubMed

Yang, Hyung Suk; Atkins, Lee T; Jensen, Daniel B; James, C Roger

2015-10-01

The purpose of this study was to determine the effects of constraining arm swing on the vertical displacement of the body's center of mass (COM) during treadmill walking and examine several common gait variables that may account for or mask differences in the body's COM motion with and without arm swing. Participants included 20 healthy individuals (10 male, 10 female; age: 27.8 ± 6.8 years). The body's COM displacement, first and second peak vertical ground reaction forces (VGRFs), and lowest VGRF during mid-stance, peak summed bilateral VGRF, lower extremity sagittal joint angles, stride length, and foot contact time were measured with and without arm swing during walking at 1.34 m/s. The body's COM displacement was greater with the arms constrained (arm swing: 4.1 ± 1.2 cm, arm constrained: 4.9 ± 1.2 cm, p < 0.001). Ground reaction force data indicated that the COM displacement increased in both double limb and single limb stance. However, kinematic patterns visually appeared similar between conditions. Shortened stride length and foot contact time also were observed, although these do not seem to account for the increased COM displacement. However, a change in arm COM acceleration might have contributed to the difference. These findings indicate that a change in arm swing causes differences in vertical COM displacement, which could increase energy expenditure. Copyright © 2015 Elsevier B.V. All rights reserved.

Fixman compensating potential for general branched molecules

NASA Astrophysics Data System (ADS)

Jain, Abhinandan; Kandel, Saugat; Wagner, Jeffrey; Larsen, Adrien; Vaidehi, Nagarajan

2013-12-01

The technique of constraining high frequency modes of molecular motion is an effective way to increase simulation time scale and improve conformational sampling in molecular dynamics simulations. However, it has been shown that constraints on higher frequency modes such as bond lengths and bond angles stiffen the molecular model, thereby introducing systematic biases in the statistical behavior of the simulations. Fixman proposed a compensating potential to remove such biases in the thermodynamic and kinetic properties calculated from dynamics simulations. Previous implementations of the Fixman potential have been limited to only short serial chain systems. In this paper, we present a spatial operator algebra based algorithm to calculate the Fixman potential and its gradient within constrained dynamics simulations for branched topology molecules of any size. Our numerical studies on molecules of increasing complexity validate our algorithm by demonstrating recovery of the dihedral angle probability distribution function for systems that range in complexity from serial chains to protein molecules. We observe that the Fixman compensating potential recovers the free energy surface of a serial chain polymer, thus annulling the biases caused by constraining the bond lengths and bond angles. The inclusion of Fixman potential entails only a modest increase in the computational cost in these simulations. We believe that this work represents the first instance where the Fixman potential has been used for general branched systems, and establishes the viability for its use in constrained dynamics simulations of proteins and other macromolecules.

Method and apparatus for identification of hazards along an intended travel route

NASA Technical Reports Server (NTRS)

Kronfeld, Kevin M. (Inventor); Lapis, Mary Beth (Inventor); Walling, Karen L. (Inventor); Chackalackal, Mathew S. (Inventor)

2003-01-01

Targets proximate to a travel route plan were evaluated to determine hazardousness. Projected geometric representation of a vehicle determines intrusion of hazardous targets along travel route plan. Geometric representation of hazardous targets projected along motion vector to determine intrusion upon travel route plan. Intrusion assessment presented on user display.

The eivaN: A forward-looking interactive orbital trajectory plotting tool for use with proximity operations (PROX OPS) and other maneuvers: Description and user's manual

NASA Technical Reports Server (NTRS)

Brody, Adam R.

1988-01-01

The results of vehicle burns on-orbit are very difficult to anticipate because of nonlinearities in the equations of motion governing orbiting bodies. This confusion was noticed firsthand in prior experimentation. Out of plane motion is relatively simple as it is uncoupled from the other two degrees of freedom. However, in plane thrusts are more complex because the motions resulting from these inputs are coupled. An interactive planning device, eivaN, was developed to plot resulting trajectories, to provide a better comprehension of orbital mechanics effects, and to help the user to develop heuristics for on-orbit mission planning. The eivaN runs with Microsoft Excel on a Macintosh computer. It provides a forward looking display: burn parameters in the three orthogonal axes in addition to time inputted, and the resultant trajectory is then plotted. Position and velocity components for any burn at any user specified time are readily available. A new area of research related to the human factors of real time, on-orbit mission planning was identified and is currently being investigated.

Sampled-data-based consensus and containment control of multiple harmonic oscillators: A motion-planning approach

NASA Astrophysics Data System (ADS)

Liu, Yongfang; Zhao, Yu; Chen, Guanrong

2016-11-01

This paper studies the distributed consensus and containment problems for a group of harmonic oscillators with a directed communication topology. First, for consensus without a leader, a class of distributed consensus protocols is designed by using motion planning and Pontryagin's principle. The proposed protocol only requires relative information measurements at the sampling instants, without requiring information exchange over the sampled interval. By using stability theory and the properties of stochastic matrices, it is proved that the distributed consensus problem can be solved in the motion planning framework. Second, for the case with multiple leaders, a class of distributed containment protocols is developed for followers such that their positions and velocities can ultimately converge to the convex hull formed by those of the leaders. Compared with the existing consensus algorithms, a remarkable advantage of the proposed sampled-data-based protocols is that the sampling periods, communication topologies and control gains are all decoupled and can be separately designed, which relaxes many restrictions in controllers design. Finally, some numerical examples are given to illustrate the effectiveness of the analytical results.

Motion planning with complete knowledge using a colored SOM.

PubMed

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.

Human Guidance Behavior Decomposition and Modeling

NASA Astrophysics Data System (ADS)

Feit, Andrew James

Trained humans are capable of high performance, adaptable, and robust first-person dynamic motion guidance behavior. This behavior is exhibited in a wide variety of activities such as driving, piloting aircraft, skiing, biking, and many others. Human performance in such activities far exceeds the current capability of autonomous systems in terms of adaptability to new tasks, real-time motion planning, robustness, and trading safety for performance. The present work investigates the structure of human dynamic motion guidance that enables these performance qualities. This work uses a first-person experimental framework that presents a driving task to the subject, measuring control inputs, vehicle motion, and operator visual gaze movement. The resulting data is decomposed into subspace segment clusters that form primitive elements of action-perception interactive behavior. Subspace clusters are defined by both agent-environment system dynamic constraints and operator control strategies. A key contribution of this work is to define transitions between subspace cluster segments, or subgoals, as points where the set of active constraints, either system or operator defined, changes. This definition provides necessary conditions to determine transition points for a given task-environment scenario that allow a solution trajectory to be planned from known behavior elements. In addition, human gaze behavior during this task contains predictive behavior elements, indicating that the identified control modes are internally modeled. Based on these ideas, a generative, autonomous guidance framework is introduced that efficiently generates optimal dynamic motion behavior in new tasks. The new subgoal planning algorithm is shown to generate solutions to certain tasks more quickly than existing approaches currently used in robotics.

Modeling human behaviors and reactions under dangerous environment.

PubMed

Kang, J; Wright, D K; Qin, S F; Zhao, Y

2005-01-01

This paper describes the framework of a real-time simulation system to model human behavior and reactions in dangerous environments. The system utilizes the latest 3D computer animation techniques, combined with artificial intelligence, robotics and psychology, to model human behavior, reactions and decision making under expected/unexpected dangers in real-time in virtual environments. The development of the system includes: classification on the conscious/subconscious behaviors and reactions of different people; capturing different motion postures by the Eagle Digital System; establishing 3D character animation models; establishing 3D models for the scene; planning the scenario and the contents; and programming within Virtools Dev. Programming within Virtools Dev is subdivided into modeling dangerous events, modeling character's perceptions, modeling character's decision making, modeling character's movements, modeling character's interaction with environment and setting up the virtual cameras. The real-time simulation of human reactions in hazardous environments is invaluable in military defense, fire escape, rescue operation planning, traffic safety studies, and safety planning in chemical factories, the design of buildings, airplanes, ships and trains. Currently, human motion modeling can be realized through established technology, whereas to integrate perception and intelligence into virtual human's motion is still a huge undertaking. The challenges here are the synchronization of motion and intelligence, the accurate modeling of human's vision, smell, touch and hearing, the diversity and effects of emotion and personality in decision making. There are three types of software platforms which could be employed to realize the motion and intelligence within one system, and their advantages and disadvantages are discussed.

Target volume motion during anal cancer image guided radiotherapy using cone-beam computed tomography.

PubMed

Brooks, Corrinne J; Bernier, Laurence; Hansen, Vibeke N; Tait, Diana M

2018-05-01

Literature regarding image-guidance and interfractional motion of the anal canal (AC) during anal cancer radiotherapy is sparse. This study investigates interfractional AC motion during anal cancer radiotherapy. Bone matched cone beam CT (CBCT) images were acquired for 20 patients receiving anal cancer radiotherapy allowing population systematic and random error calculations. 12 were selected to investigate interfractional AC motion. Primary anal gross tumour volume and clinical target volume (CTVa) were contoured on each CBCT. CBCT CTVa volumes were compared to planning CTVa. CBCT CTVa volumes were combined into a CBCT-CTVa envelope for each patient. Maximum distortion between each orthogonal border of the planning CTVa and CBCT-CTVa envelope was measured. Frequency, volume and location of CBCT-CTVa envelope beyond the planning target volume (PTVa) was analysed. Population systematic and random errors were 1 and 3 mm respectively. 112 CBCTs were analysed in the interfractional motion study. CTVa varied between each imaging session particularly T location patients of anorectal origin. CTVa border expansions ≥ 1 cm were seen inferiorly, anteriorly, posteriorly and left direction. The CBCT-CTVa envelope fell beyond the PTVa ≥ 50% imaging sessions (n = 5). Of these CBCT CTVa distortions beyond PTVa, 44% and 32% were in the upper and lower thirds of PTVa respectively. The AC is susceptible to volume changes and shape deformations. Care must be taken when calculating or considering reducing the PTV margin to the anus. Advances in knowledge: Within a limited field of research, this study provides further knowledge of how the AC deforms during anal cancer radiotherapy.

Report: CSB’s Public Meeting Announcement Violated The Government in the Sunshine Act

EPA Pesticide Factsheets

Report #15-P-0304, September 30, 2015.At a public meeting, CSB passed a motion to terminate five investigations on which it had already spent over $800,000 in taxpayer funds without announcing the planned motion in advance, as required by the Sunshine Act.

Weigh-in-motion for planning applications in Louisiana : final report.

DOT National Transportation Integrated Search

1988-04-01

Weigh-In-Motion (WIM) is a method of weighing vehicles at highway speeds with the use of scales on or flush with the road surface. It has been used experimentally in Louisiana since 1976, but until recently little was done to prove its accuracy and u...

CD-I and Full Motion Video.

ERIC Educational Resources Information Center

Chen, Ching-chih

1991-01-01

Describes compact disc interactive (CD-I) as a multimedia home entertainment system that combines audio, visual, text, graphic, and interactive capabilities. Full-screen video and full-motion video (FMV) are explained, hardware for FMV decoding is described, software is briefly discussed, and CD-I titles planned for future production are listed.…

Towards fast online intrafraction replanning for free-breathing stereotactic body radiation therapy with the MR-linac.

PubMed

Kontaxis, C; Bol, G H; Stemkens, B; Glitzner, M; Prins, F M; Kerkmeijer, L G W; Lagendijk, J J W; Raaymakers, B W

2017-08-21

The hybrid MRI-radiotherapy machines, like the MR-linac (Elekta AB, Stockholm, Sweden) installed at the UMC Utrecht (Utrecht, The Netherlands), will be able to provide real-time patient imaging during treatment. In order to take advantage of the system's capabilities and enable online adaptive treatments, a new generation of software should be developed, ranging from motion estimation to treatment plan adaptation. In this work we present a proof of principle adaptive pipeline designed for high precision stereotactic body radiation therapy (SBRT) suitable for sites affected by respiratory motion, like renal cell carcinoma (RCC). We utilized our research MRL treatment planning system (MRLTP) to simulate a single fraction 25 Gy free-breathing SBRT treatment for RCC by performing inter-beam replanning for two patients and one volunteer. The simulated pipeline included a combination of (pre-beam) 4D-MRI and (online) 2D cine-MR acquisitions. The 4DMRI was used to generate the mid-position reference volume, while the cine-MRI, via an in-house motion model, provided three-dimensional (3D) deformable vector fields (DVFs) describing the anatomical changes during treatment. During the treatment fraction, at an inter-beam interval, the mid-position volume of the patient was updated and the delivered dose was accurately reconstructed on the underlying motion calculated by the model. Fast online replanning, targeting the latest anatomy and incorporating the previously delivered dose was then simulated with MRLTP. The adaptive treatment was compared to a conventional mid-position SBRT plan with a 3 mm planning target volume margin reconstructed on the same motion trace. We demonstrate that our system produced tighter dose distributions and thus spared the healthy tissue, while delivering more dose to the target. The pipeline was able to account for baseline variations/drifts that occurred during treatment ensuring target coverage at the end of the treatment fraction.

SU-E-T-560: Inter- and Intra-Fraction Variations in Esophageal Dose for Lung Cancer Patients, and the Impact of Setup Technique and Treatment Modality.

PubMed

Carroll, M; Cheung, J; Zhang, L; Court, L

2012-06-01

To understand the dose-response of the esophagus in photon and proton therapy, it is important to appreciate the variations in delivered dose caused by inter- and intra-fraction motion. Four lung cancer patients were identified who had experienced grade 3 esophagitis during their treatment, and for whom their esophagus was close, but not encompassed by, the treatment volume. Each patient had been treated with proton therapy using 35-37 2Gy fractions, and had received weekly 4DCT imaging. IMRT plans were also created using the same treatment planning constraints. In-house image registration software was used to deform the esophagus contour from the treatment plan to each phase of the 4DCT for each weekly image set. Daily setup using both bony and soft tissue (GTV) registration was simulated, and the treatment dose calculated for each CT image. Changes to the esophagus DVH relative to the treatment plan were quantified in terms of the relative volume of the esophagus receiving 45, 55, and 65Gy (V45, V55 and V65). For all combinations of treatment modality (photon, proton) and setup method (bony, GTV), intra-fraction motion resulted in a range of V45, V55 and V65 from 3.6 to 5.5%. Inter-fraction motion comparing daily exhale or inhale phases showed the range of V45, V55 and V65 from 8.5 to 18.6% (exhale) and 9.8 to 16.3% (inhale). Inter-fractional motion resulted in larger variations in dose delivered to the esophagus than intra-fractional motion. The inter-fraction range for V45, V55 and V65 varied by around 10% between patients. The treatment modality (photon, proton) and setup technique (bony, GTV) had minimal impact on the results. © 2012 American Association of Physicists in Medicine.