Digital Architecture for an Automated Drilling Rig

The objective of this thesis was to develop the digital architecture for a small-scale drill rig intended for use by the Drillbotics team at the Uni- versity of Stavanger, for an international student competition by the same name. The main goals of the project has been to develop a robust software architecture, data acquisition system, data management system and graphi- cal user interface. The main criteria are the guidelines given by competition organisers, criteria given in the thesis description, and criteria given by the Drillbotics team. We created a system for communication between the computer, programmable logic controller and the drill rig such that we can communicate between platforms using the CAN protocol. With this communication in place, both the data acquisition logging and control system can operate without delay. Any data retrieved is stored in a data management system, as per competition guidelines. The database has been stress tested and has a 15x safety margin between operation- and top speed, ensuring the database will not be a bottleneck. The main human machine interface for the drill rig, the graphical user interface, on the computer was developed using principles researched in advance to ensure an interface that was based on good industry practices. The big focus on researching proper methods of making the interface is due to the competition recently adding human machine interface as a major judging criteria in the competition. A system has also been developed that covers models used for steering the directional drilling according to the industry standard minimum curvature method. The path given by the minimum curvature method is the ideal path that we try to follow. The path also has safety margins given to it to ensure the rig never strays too far from the path. The systems created in this project have had a side-goal of being scalable and using good abstractions such that it is able to be used by future Drill- botics teams, for both future computer science bachelor groups, or the rest of the team as well.The objective of this thesis was to develop the digital architecture for a small-scale drill rig intended for use by the Drillbotics team at the Uni- versity of Stavanger, for an international student competition by the same name. The main goals of the project has been to develop a robust software architecture, data acquisition system, data management system and graphi- cal user interface. The main criteria are the guidelines given by competition organisers, criteria given in the thesis description, and criteria given by the Drillbotics team. We created a system for communication between the computer, programmable logic controller and the drill rig such that we can communicate between platforms using the CAN protocol. With this communication in place, both the data acquisition logging and control system can operate without delay. Any data retrieved is stored in a data management system, as per competition guidelines. The database has been stress tested and has a 15x safety margin between operation- and top speed, ensuring the database will not be a bottleneck. The main human machine interface for the drill rig, the graphical user interface, on the computer was developed using principles researched in advance to ensure an interface that was based on good industry practices. The big focus on researching proper methods of making the interface is due to the competition recently adding human machine interface as a major judging criteria in the competition. A system has also been developed that covers models used for steering the directional drilling according to the industry standard minimum curvature method. The path given by the minimum curvature method is the ideal path that we try to follow. The path also has safety margins given to it to ensure the rig never strays too far from the path. The systems created in this project have had a side-goal of being scalable and using good abstractions such that it is able to be used by future Drill- botics teams, for both future computer science bachelor groups, or the rest of the team as well

Digital Architecture for an Automated Drilling Rig

The objective of this thesis was to develop the digital architecture for a small-scale drill rig intended for use by the Drillbotics team at the Uni- versity of Stavanger, for an international student competition by the same name. The main goals of the project has been to develop a robust software architecture, data acquisition system, data management system and graphi- cal user interface. The main criteria are the guidelines given by competition organisers, criteria given in the thesis description, and criteria given by the Drillbotics team. We created a system for communication between the computer, programmable logic controller and the drill rig such that we can communicate between platforms using the CAN protocol. With this communication in place, both the data acquisition logging and control system can operate without delay. Any data retrieved is stored in a data management system, as per competition guidelines. The database has been stress tested and has a 15x safety margin between operation- and top speed, ensuring the database will not be a bottleneck. The main human machine interface for the drill rig, the graphical user interface, on the computer was developed using principles researched in advance to ensure an interface that was based on good industry practices. The big focus on researching proper methods of making the interface is due to the competition recently adding human machine interface as a major judging criteria in the competition. A system has also been developed that covers models used for steering the directional drilling according to the industry standard minimum curvature method. The path given by the minimum curvature method is the ideal path that we try to follow. The path also has safety margins given to it to ensure the rig never strays too far from the path. The systems created in this project have had a side-goal of being scalable and using good abstractions such that it is able to be used by future Drill- botics teams, for both future computer science bachelor groups, or the rest of the team as well.The objective of this thesis was to develop the digital architecture for a small-scale drill rig intended for use by the Drillbotics team at the Uni- versity of Stavanger, for an international student competition by the same name. The main goals of the project has been to develop a robust software architecture, data acquisition system, data management system and graphi- cal user interface. The main criteria are the guidelines given by competition organisers, criteria given in the thesis description, and criteria given by the Drillbotics team. We created a system for communication between the computer, programmable logic controller and the drill rig such that we can communicate between platforms using the CAN protocol. With this communication in place, both the data acquisition logging and control system can operate without delay. Any data retrieved is stored in a data management system, as per competition guidelines. The database has been stress tested and has a 15x safety margin between operation- and top speed, ensuring the database will not be a bottleneck. The main human machine interface for the drill rig, the graphical user interface, on the computer was developed using principles researched in advance to ensure an interface that was based on good industry practices. The big focus on researching proper methods of making the interface is due to the competition recently adding human machine interface as a major judging criteria in the competition. A system has also been developed that covers models used for steering the directional drilling according to the industry standard minimum curvature method. The path given by the minimum curvature method is the ideal path that we try to follow. The path also has safety margins given to it to ensure the rig never strays too far from the path. The systems created in this project have had a side-goal of being scalable and using good abstractions such that it is able to be used by future Drill- botics teams, for both future computer science bachelor groups, or the rest of the team as well

Digital Architecture for an Automated Drilling Rig

The objective of this thesis was to develop the digital architecture for a small-scale drill rig intended for use by the Drillbotics team at the University of Stavanger, for an international student competition by the same name. The main goals of the project has been to develop a robust software architecture, data acquisition system, data management system and graphical user interface. The main criteria are the guidelines given by competition organisers, criteria given in the thesis description, and criteria given by the Drillbotics team. We created a system for communication between the computer, programmable logic controller and the drill rig such that we can communicate between platforms using the CAN protocol. With this communication in place, both the data acquisition logging and control system can operate without delay. Any data retrieved is stored in a data management system, as per competition guidelines. The database has been stress tested and has a 15x safety margin between operation- and top speed, ensuring the database will not be a bottleneck. The main human machine interface for the drill rig, the graphical user interface, on the computer was developed using principles researched in advance to ensure an interface that was based on good industry practices. The big focus on researching proper methods of making the interface is due to the competition recently adding human machine interface as a major judging criteria in the competition. A system has also been developed that covers models used for steering the directional drilling according to the industry standard minimum curvature method. The path given by the minimum curvature method is the ideal path that we try to follow. The path also has safety margins given to it to ensure the rig never strays too far from the path. The systems created in this project have had a side-goal of being scalable and using good abstractions such that it is able to be used by future Drillbotics teams, for both future computer science bachelor groups, or the rest of the team as well

Ikke nok klimatilpasning i kommunenes arealplaner

Styrtregn, temperaturøkning, sterkere vindkast, stigende havnivå og stormflo kan utgjøre store trusler mot Bygg og infrastruktur. Kommunene kan begrense framtidige skader ved å ta høyde for klimaendringer i dagens arealplaner.publishedVersio

Ikke nok klimatilpasning i kommunenes arealplaner

Styrtregn, temperaturøkning, sterkere vindkast, stigende havnivå og stormflo kan utgjøre store trusler mot Bygg og infrastruktur. Kommunene kan begrense framtidige skader ved å ta høyde for klimaendringer i dagens arealplaner.publishedVersio

Safety of breast feeding during rituximab treatment in multiple sclerosis

Background There are limited data on the safety of breast feeding during rituximab therapy. Our objective is to determine exposure from breast feeding and biological effects of rituximab in breastfed infants. Methods In our case series of six mother–infant pairs, the nursing mothers with relapsing-remitting multiple sclerosis received rituximab during breast feeding. As part of clinical follow-up, six serial breast milk samples, and blood samples from both mothers and infants, were collected and analysed. Results The median average rituximab concentration (Cavg) in breast milk was 0.04 µg/mL and the estimated relative infant dose (RID) was 0.07%. The highest measured concentration of rituximab in the breast milk samples was 0.25 µg/mL, giving an estimated RID of 0.26%. All infant serum rituximab concentrations were below 0.01 µg/mL. The CD19 +B cell count values were within the 10th– 90th percentiles of reported normal ranges in healthy infants. Conclusions We found minimal transfer of rituximab into breast milk and could not reliably detect levels of rituximab in infant serum. B cell counts in infants were unaffected.publishedVersio

Safety and efficacy of rituximab as first- and second line treatment in multiple sclerosis – A cohort study

Background Rituximab is increasingly used as off-label therapy in multiple sclerosis (MS). More data are needed on safety and efficacy of rituximab, particularly in cohorts of de novo patients and patients in early therapy escalation. Objective To investigate the safety and efficacy of off-label treatment with rituximab in an MS-cohort of predominantly de novo patients or as therapy escalation. Methods We retrieved safety and efficacy data from the Norwegian MS-registry and biobank for all MS-patients treated with rituximab at Haukeland University Hospital, Bergen, Norway, during a four year period. Results In the 365 MS-patients (320 relapsing-remitting MS (RRMS), 23 secondary progressive MS (SPMS), and 22 primary progressive MS (PPMS)), the overall annualized relapse rate (ARR) was 0.03 and annualized drug discontinuation rate (ADDR) was 0.05. NEDA-3 was achived in 79% of patients with available data (n=351). Sixty-one patients experienced infusion-related adverse events of which two were serious (CTCAE grade 3–4). Eighteen patients experienced serious non-infusion related adverse events, of which 16 were infections. Infections (n = 34; 9.3%, CTCAE grade 2-5), hypogammaglobulinemia (n = 19, 5.2%) and neutropenia (n = 16; 4.4%) were the most common non-infusion-related adverse events. Conclusion Rituximab was a safe and highly efficient disease modifying therapy in this cohort of MS-patients; however, infections and neutropenia need to be monitored.publishedVersio

Safety and Clinical Efficacy of Mesenchymal Stem Cell Treatment in Traumatic Spinal Cord Injury, Multiple Sclerosis and Ischemic Stroke – A Systematic Review and Meta-Analysis

Background: Mesenchymal stem cells (MSCs) is an attractive candidate in regenerative research and clinical trials have assessed their therapeutic potential in different neurological conditions with disparate etiologies. In this systematic review, we aimed to assess safety and clinical effect of MSC treatment in traumatic spinal cord injury (TSCI), multiple sclerosis (MS) and ischemic stroke (IS). Methods: A systematic search was performed 2021-12-10 in MEDLINE, EMBASE, Web of Science and Cochrane where clinical studies assessing MSC treatment in TSCI, MS or IS were included. Studies without control group were excluded for efficacy analysis, but included in the safety analysis. For efficacy, AIS score, EDSS score and mRS were used as clinical endpoints and assessed in a meta-analysis using the random effects model. Findings: Of 5,548 identified records, 54 studies were included. Twenty-six studies assessed MSC treatment in TSCI, 14 in MS and nine in IS, of which seven, seven and five studies were controlled, respectively. There were seven serious adverse events (SAEs), of which four were related to the surgical procedure and included one death due to complications following the implantation of MSCs. Three SAEs were considered directly related to the MSC treatment and all these had a transient course. In TSCI, a meta-analysis showed no difference in conversion from AIS A to C and a trend toward more patients treated with MSCs improving from AIS A to B as compared to controls (p = 0.05). A subgroup analysis performed per protocol, showed more MSC treated patients improving from AIS A to C in studies including patients within 8 weeks after injury (p = 0.04). In MS and IS, there were no significant differences in clinical outcomes between MSC treated patients and controls as measured by EDSS and mRS, respectively. Interpretation: MSC-treatment is safe in patients with TSCI, MS and IS, although surgical implantation of MSC led to one fatal outcome in TSCI. There was no clear clinical benefit of MSC treatment, but this is not necessarily a proof of inefficacy due to the low number of controlled studies. Future studies assessing efficacy of MSC treatment should aim to do this in randomized, controlled studies.publishedVersio

Impact of previous disease-modifying treatment on safety and efficacy in patients with MS treated with AHSCT

Background Autologous haematopoietic stem cell transplantation (AHSCT) is a highly effective treatment for multiple sclerosis (MS). The impact of previous long-lasting disease-modifying treatments (DMT) for safety and efficacy of AHSCT is unknown. Objective To explore whether previous DMTs with long-lasting effects on the immune system (anti-CD20 therapy, alemtuzumab and cladribine) affect treatment-related complications, long-term outcome and risk of new MS disease activity in patients treated with AHSCT. Methods Retrospective observational study of 104 relapsing remitting patients with MS treated by AHSCT in Sweden and Norway from 2011 to 2021, grouped according to the last DMT used ≤6 months prior to AHSCT. The primary outcomes were early AHSCT-related complications (mortality, neutropenic fever and hospitalisation length), long-term complications (secondary autoimmunity) and proportion of patients with No Evidence of Disease Activity (NEDA-3 status): no new relapses, no MRI activity and no disease progression during the follow-up. Results The mean follow-up time was 39.5 months (range 1–95). Neutropenic fever was a common AHSCT-related complication affecting 69 (66%) patients. There was no treatment-related mortality. During the follow-up period, 20 patients (19%) were diagnosed with autoimmunity. Occurrence of neutropenic fever, hospitalisation length or secondary autoimmunity did not vary dependent on the last DMT used prior to AHSCT. A total of 84 patients (81%) achieved NEDA-3 status, including all patients (100%) using rituximab, alemtuzumab or cladribine before AHSCT. Conclusion This study provides level 4 evidence that AHSCT in patients previously treated with alemtuzumab, cladribine or rituximab is safe and efficacious.publishedVersio

Survival of glioblastoma in relation to tumor location: a statistical tumor atlas of a population-based cohort

Purpose: Previous studies on the effect of tumor location on overall survival in glioblastoma have found conflicting results. Based on statistical maps, we sought to explore the effect of tumor location on overall survival in a population-based cohort of patients with glioblastoma and IDH wild-type astrocytoma WHO grade II–III with radiological necrosis. Methods: Patients were divided into three groups based on overall survival: 24 months. Statistical maps exploring differences in tumor location between these three groups were calculated from pre-treatment magnetic resonance imaging scans. Based on the results, multivariable Cox regression analyses were performed to explore the possible independent effect of centrally located tumors compared to known prognostic factors by use of distance from center of the third ventricle to contrast-enhancing tumor border in centimeters as a continuous variable. Results: A total of 215 patients were included in the statistical maps. Central tumor location (corpus callosum, basal ganglia) was associated with overall survival 24 months. Increased distance from center of the third ventricle to contrast-enhancing tumor border was a positive prognostic factor for survival in elderly patients, but less so in younger patients. Conclusions: Central tumor location was associated with worse prognosis. Distance from center of the third ventricle to contrast-enhancing tumor border may be a pragmatic prognostic factor in elderly patients.publishedVersio