Toward certifiable optimal motion planning for medical steerable needles

Medical steerable needles can follow 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steerable needle procedures can enable physicians and patients to harness the full potential of steerable needles by maximally leveraging their steerability to safely and accurately reach targets for medical procedures such as biopsies. For the automation of medical procedures to be clinically accepted, it is critical from a patient care, safety, and regulatory perspective to certify the correctness and effectiveness of the planning algorithms involved in procedure automation. In this paper, we take an important step toward creating a certifiable optimal planner for steerable needles. We present an efficient, resolution-complete motion planner for steerable needles based on a novel adaptation of multi-resolution planning. This is the first motion planner for steerable needles that guarantees to compute in finite time an obstacle-avoiding plan (or notify the user that no such plan exists), under clinically appropriate assumptions. Based on this planner, we then develop the first resolution-optimal motion planner for steerable needles that further provides theoretical guarantees on the quality of the computed motion plan, that is, global optimality, in finite time. Compared to state-of-the-art steerable needle motion planners, we demonstrate with clinically realistic simulations that our planners not only provide theoretical guarantees but also have higher success rates, have lower computation times, and result in higher quality plans

ISO 55001 : diagnosis of the organization's state

ISO 55001 define um conjunto de requisitos que, quando implementados e mantidos, garantem o bom desempenho da gestão de activos de uma organização, respondendo às necessidades e expectativas das partes interessadas e garantindo a criação e manutenção de valor assim como uma visão global dos activos numa economia circular. As organizações para as quais a gestão de ativos físicos tem grande importância incluem todas aquelas que envolvem: instalações, máquinas, edifícios, estradas e pontes, serviços públicos, indústrias de transporte; extração e processamento de petróleo e gás; processamento de mineração e mineração; produtos químicos, fabricação, distribuição, aviação e defesa. No entanto, como a norma ISO 55001 é um novo padrão no mercado global, por ser intrinsecamente difícil a sua implementação, um modelo de diagnóstico sobre o estado das organizações pode ajudar muito na sua implementação. Porém, antes de começar a implementar a norma ISO 55001, é necessário avaliar se a organização está pronta para iniciar essa tarefa. Normalmente é necessário adequar muitos aspectos antes de iniciar uma grande tarefa como essa. Mas, de onde começar? Quais os aspectos são necessários para corrigir antes para iniciar a implementação padrão? O presente artigo propõe um modelo de diagnóstico para avaliar o estado das organizações em relação ao seu potencial para implementar a norma ISO 55001. O diagnóstico permite identificar os aspectos da organização que estão prontos para receber o novo padrão, o crítico, o frágil e os fracos pontos da empresa que devem ser corrigidos. O modelo de diagnóstico baseia-se em inquéritos, com várias questões e com cinco possibilidades de respostas. Cada possibilidade de resposta tem uma quantificação e uma classificação crítica. O resultado final é um posicionamento global da empresa com a identificação dos vários aspectos a serem corrigidos para ser possível a implementação da norma ISO 55001. Um gráfico de radar fornece uma “radiografia” global do diagnóstico da empresa. O modelo de diagnóstico foi validado e os resultados são apresentados no documento

A Partially Randomized Approach to Trajectory Planning and Optimization for Mobile Robots with Flat Dynamics

Motion planning problems are characterized by huge search spaces and complex obstacle structures with no concise mathematical expression. The fixed-wing airplane application considered in this thesis adds differential constraints and point-wise bounds, i. e. an infinite number of equality and inequality constraints. An optimal trajectory planning approach is presented, based on the randomized Rapidly-exploring Random Trees framework (RRT*). The local planner relies on differential flatness of the equations of motion to obtain tree branch candidates that automatically satisfy the differential constraints. Flat output trajectories, in this case equivalent to the airplane's flight path, are designed using Bézier curves. Segment feasibility in terms of point-wise inequality constraints is tested by an indicator integral, which is evaluated alongside the segment cost functional. Although the RRT* guarantees optimality in the limit of infinite planning time, it is argued by intuition and experimentation that convergence is not approached at a practically useful rate. Therefore, the randomized planner is augmented by a deterministic variational optimization technique. To this end, the optimal planning task is formulated as a semi-infinite optimization problem, using the intermediate result of the RRT(*) as an initial guess. The proposed optimization algorithm follows the feasible flavor of the primal-dual interior point paradigm. Discretization of functional (infinite) constraints is deferred to the linear subproblems, where it is realized implicitly by numeric quadrature. An inherent numerical ill-conditioning of the method is circumvented by a reduction-like approach, which tracks active constraint locations by introducing new problem variables. Obstacle avoidance is achieved by extending the line search procedure and dynamically adding obstacle-awareness constraints to the problem formulation. Experimental evaluation confirms that the hybrid approach is practically feasible and does indeed outperform RRT*'s built-in optimization mechanism, but the computational burden is still significant.Bewegungsplanungsaufgaben sind typischerweise gekennzeichnet durch umfangreiche Suchräume, deren vollständige Exploration nicht praktikabel ist, sowie durch unstrukturierte Hindernisse, für die nur selten eine geschlossene mathematische Beschreibung existiert. Bei der in dieser Arbeit betrachteten Anwendung auf Flächenflugzeuge kommen differentielle Randbedingungen und beschränkte Systemgrößen erschwerend hinzu. Der vorgestellte Ansatz zur optimalen Trajektorienplanung basiert auf dem Rapidly-exploring Random Trees-Algorithmus (RRT*), welcher die Suchraumkomplexität durch Randomisierung beherrschbar macht. Der spezifische Beitrag ist eine Realisierung des lokalen Planers zur Generierung der Äste des Suchbaums. Dieser erfordert ein flaches Bewegungsmodell, sodass differentielle Randbedingungen automatisch erfüllt sind. Die Trajektorien des flachen Ausgangs, welche im betrachteten Beispiel der Flugbahn entsprechen, werden mittels Bézier-Kurven entworfen. Die Einhaltung der Ungleichungsnebenbedingungen wird durch ein Indikator-Integral überprüft, welches sich mit wenig Zusatzaufwand parallel zum Kostenfunktional berechnen lässt. Zwar konvergiert der RRT*-Algorithmus (im probabilistischen Sinne) zu einer optimalen Lösung, jedoch ist die Konvergenzrate aus praktischer Sicht unbrauchbar langsam. Es ist daher naheliegend, den Planer durch ein gradientenbasiertes lokales Optimierungsverfahren mit besseren Konvergenzeigenschaften zu unterstützen. Hierzu wird die aktuelle Zwischenlösung des Planers als Initialschätzung für ein kompatibles semi-infinites Optimierungsproblem verwendet. Der vorgeschlagene Optimierungsalgorithmus erweitert das verbreitete innere-Punkte-Konzept (primal dual interior point method) auf semi-infinite Probleme. Eine explizite Diskretisierung der funktionalen Ungleichungsnebenbedingungen ist nicht erforderlich, denn diese erfolgt implizit durch eine numerische Integralauswertung im Rahmen der linearen Teilprobleme. Da die Methode an Stellen aktiver Nebenbedingungen nicht wohldefiniert ist, kommt zusätzlich eine Variante des Reduktions-Ansatzes zum Einsatz, bei welcher der Vektor der Optimierungsvariablen um die (endliche) Menge der aktiven Indizes erweitert wird. Weiterhin wurde eine Kollisionsvermeidung integriert, die in den Teilschritt der Liniensuche eingreift und die Problemformulierung dynamisch um Randbedingungen zur lokalen Berücksichtigung von Hindernissen erweitert. Experimentelle Untersuchungen bestätigen, dass die Ergebnisse des hybriden Ansatzes aus RRT(*) und numerischem Optimierungsverfahren der klassischen RRT*-basierten Trajektorienoptimierung überlegen sind. Der erforderliche Rechenaufwand ist zwar beträchtlich, aber unter realistischen Bedingungen praktisch beherrschbar

International Conference on Continuous Optimization (ICCOPT) 2019 Conference Book

The Sixth International Conference on Continuous Optimization took place on the campus of the Technical University of Berlin, August 3-8, 2019. The ICCOPT is a flagship conference of the Mathematical Optimization Society (MOS), organized every three years. ICCOPT 2019 was hosted by the Weierstrass Institute for Applied Analysis and Stochastics (WIAS) Berlin. It included a Summer School and a Conference with a series of plenary and semi-plenary talks, organized and contributed sessions, and poster sessions. This book comprises the full conference program. It contains, in particular, the scientific program in survey style as well as with all details, and information on the social program, the venue, special meetings, and more

New Foundation in the Sciences: Physics without sweeping infinities under the rug

It is widely known among the Frontiers of physics, that “sweeping under the rug” practice has been quite the norm rather than exception. In other words, the leading paradigms have strong tendency to be hailed as the only game in town. For example, renormalization group theory was hailed as cure in order to solve infinity problem in QED theory. For instance, a quote from Richard Feynman goes as follows: “What the three Nobel Prize winners did, in the words of Feynman, was to get rid of the infinities in the calculations. The infinities are still there, but now they can be skirted around . . . We have designed a method for sweeping them under the rug. [1] And Paul Dirac himself also wrote with similar tune: “Hence most physicists are very satisfied with the situation. They say: Quantum electrodynamics is a good theory, and we do not have to worry about it any more. I must say that I am very dissatisfied with the situation, because this so-called good theory does involve neglecting infinities which appear in its equations, neglecting them in an arbitrary way. This is just not sensible mathematics. Sensible mathematics involves neglecting a quantity when it turns out to be small—not neglecting it just because it is infinitely great and you do not want it!”[2] Similarly, dark matter and dark energy were elevated as plausible way to solve the crisis in prevalent Big Bang cosmology. That is why we choose a theme here: New Foundations in the Sciences, in order to emphasize the necessity to introduce a new set of approaches in the Sciences, be it Physics, Cosmology, Consciousness etc

Modeling, Predicting and Capturing Human Mobility

Realistic models of human mobility are critical for modern day applications, specifically for recommendation systems, resource planning and process optimization domains. Given the rapid proliferation of mobile devices equipped with Internet connectivity and GPS functionality today, aggregating large sums of individual geolocation data is feasible. The thesis focuses on methodologies to facilitate data-driven mobility modeling by drawing parallels between the inherent nature of mobility trajectories, statistical physics and information theory. On the applied side, the thesis contributions lie in leveraging the formulated mobility models to construct prediction workflows by adopting a privacy-by-design perspective. This enables end users to derive utility from location-based services while preserving their location privacy. Finally, the thesis presents several approaches to generate large-scale synthetic mobility datasets by applying machine learning approaches to facilitate experimental reproducibility

Space station data system analysis/architecture study. Task 2: Options development, DR-5. Volume 3: Programmatic options

Task 2 in the Space Station Data System (SSDS) Analysis/Architecture Study is the development of an information base that will support the conduct of trade studies and provide sufficient data to make design/programmatic decisions. This volume identifies the preferred options in the programmatic category and characterizes these options with respect to performance attributes, constraints, costs, and risks. The programmatic category includes methods used to administrate/manage the development, operation and maintenance of the SSDS. The specific areas discussed include standardization/commonality; systems management; and systems development, including hardware procurement, software development and system integration, test and verification