Depth estimation of optically transparent laser-driven microrobots

Six degree-of-freedom (DoF) pose feedback is essential for the development of closed-loop control techniques for microrobotics. This paper presents two methods for depth estimation of transparent microrobots inside an Optical Tweezers (OT) setup using image sharpness measurements and model-based tracking. The x-y position and the 3D orientation of the object are estimated using online model-based template matching. The proposed depth estimation methodologies are validated experimentally by comparing the results with the ground truth

Registration-free simultaneous catheter and environment modelling

© Springer International Publishing AG 2016. Endovascular procedures are challenging to perform due to the complexity and difficulty in catheter manipulation. The simultaneous recovery of the 3D structure of the vasculature and the catheter position and orientation intra-operatively is necessary in catheter control and navigation. State-of-art Simultaneous Catheter and Environment Modelling provides robust and real-time 3D vessel reconstruction based on real-time intravascular ultrasound (IVUS) imaging and electromagnetic (EM) sensing,but still relies on accurate registration between EM and pre-operative data. In this paper,a registration-free vessel reconstruction method is proposed for endovascular navigation. In the optimisation framework,the EM-CT registration is estimated and updated intra-operatively together with the 3D vessel reconstruction from IVUS,EM and pre-operative data,and thus does not require explicit registration. The proposed algorithm can also deal with global (patient) motion and periodic deformation caused by cardiac motion. Phantom and invivo experiments validate the accuracy of the algorithm and the results demonstrate the potential clinical value of the technique

Hydrothermally Grown ZnO Micro/Nanotube Arrays and Their Properties

We reported the optical and wettability properties of aligned zinc oxide micro/nanotube arrays, which were synthesized on zinc foil via a simple hydrothermal method. As-synthesized ZnO micro/nanotubes have uniform growth directions along the [0001] orientations with diameters in the range of 100–700 nm. These micro/nanotubes showed a strong emission peak at 387 nm and two weak emission peaks at 422 and 485 nm, respectively, and have the hydrophobic properties with a contact angle of 121°. Single ZnO micro/nanotube-based field-effect transistor was also fabricated, which shows typical n-type semiconducting behavior

SCEM+: Real-Time Robust Simultaneous Catheter and Environment Modeling for Endovascular Navigation

© 2016 IEEE. Endovascular procedures are characterised by significant challenges mainly due to the complexity in catheter control and navigation. Real-time recovery of the 3-D structure of the vasculature is necessary to visualise the interaction between the catheter and its surrounding environment to facilitate catheter manipulations. State-of-the-art intraoperative vessel reconstruction approaches are increasingly relying on nonionising imaging techniques such as optical coherence tomography (OCT) and intravascular ultrasound (IVUS). To enable accurate recovery of vessel structures and to deal with sensing errors and abrupt catheter motions, this letter presents a robust and real-time vessel reconstruction scheme for endovascular navigation based on IVUS and electromagnetic (EM) tracking. It is formulated as a nonlinear optimisation problem, which considers the uncertainty in both the IVUS contour and the EM pose, as well as vessel morphology provided by preoperative data. Detailed phantom validation is performed and the results demonstrate the potential clinical value of the technique

One-Dimensional Nanostructures and Devices of II–V Group Semiconductors

The II–V group semiconductors, with narrow band gaps, are important materials with many applications in infrared detectors, lasers, solar cells, ultrasonic multipliers, and Hall generators. Since the first report on trumpet-like Zn3P2nanowires, one-dimensional (1-D) nanostructures of II–V group semiconductors have attracted great research attention recently because these special 1-D nanostructures may find applications in fabricating new electronic and optoelectronic nanoscale devices. This article covers the 1-D II–V semiconducting nanostructures that have been synthesized till now, focusing on nanotubes, nanowires, nanobelts, and special nanostructures like heterostructured nanowires. Novel electronic and optoelectronic devices built on 1-D II–V semiconducting nanostructures will also be discussed, which include metal–insulator-semiconductor field-effect transistors, metal-semiconductor field-effect transistors, andp–nheterojunction photodiode. We intent to provide the readers a brief account of these exciting research activities

What spelling errors can tell us about the development of processes involved in children’s spelling

Introduction: Spelling is an essential foundation for reading and writing. However, many children leave school with spelling difficulties. By understanding the processes children use when they spell, we can intervene with appropriate instruction tailored to their needs. Methods: Our study aimed to identify key processes (lexical-semantic and phonological) by using a spelling assessment that distinguishes different printed letter strings/word types (regular and irregular words, and pseudowords). Misspellings in the test from 641 pupils in Reception Year to Year 6 were scored using alternatives to binary correct versus incorrect scoring systems. The measures looked at phonological plausibility, phoneme representations and letter distance. These have been used successfully in the past but not with a spelling test that distinguishes irregularly spelled words from regular words and pseudowords. Results: The findings suggest that children in primary school rely on both lexical-semantic and phonological processes to spell all types of letter string, but this varies depending on the level of spelling experience (younger Foundation/Key stage 1 and older Key stage 2). Although children in younger year groups seemed to rely more on phonics, based on the strongest correlation coefficients for all word types, with further spelling experience, lexical processes seemed to be more evident, depending on the type of word examined. Discussion: The findings have implications for the way we teach and assess spelling and could prove to be valuable for educators

What do IPAQ questions mean to older adults? Lessons from cognitive interviews

Most questionnaires used for physical activity (PA) surveillance have been developed for adults aged ≤65 years. Given the health benefits of PA for older adults and the aging of the population, it is important to include adults aged 65+ years in PA surveillance. However, few studies have examined how well older adults understand PA surveillance questionnaires. This study aimed to document older adults' understanding of questions from the International PA Questionnaire (IPAQ), which is used worldwide for PA surveillance

Suppression of photoconductivity by magnetic field in epitaxial manganite thin films

The erasure of photoinduced resistance (PR) by the magnetic field was investigated in manganite films. The PR was significantly suppressed when a magnetic field was introduced at low temperature. The decrease (or increase) of PR with increment of magnetic field was observed in ferromagnetic (or paramagnetic) phases of films, respectively. Our results are suggested to be the coaction of two effects under magnetic fields: (i) the reorientation of domains and spin directions of photoexcited carriers and (ii) electrons trapped around oxygen vacancies released and recombined with majority carriers in films. The interplay of the external fields is a good demonstration of the strong coupling between spins and charges in colossal magnetoresistance materials. © 2012 American Institute of Physics.published_or_final_versio

Intra- and interspecific polymorphisms ofLeishmania donovani andL. tropica minicircle DNA

A pair of degenerate polymerase chain reaction (PCR) primers (LEI-1, TCG GAT CC[C,T] [G,C]TG GGT AGG GGC GT; LEI-2, ACG GAT CC[G,C] [G,C][A,C]C TAT [A,T]TT ACA CC) defining a 0.15-kb segment ofLeishmania minicircle DNA was constructed. These primers amplified not only inter- but also intraspecifically polymorphic sequences. Individual sequences revealed a higher intraspecific than interspecific divergence. It is concluded that individual sequences are of limited relevance for species determination. In contrast, when a data base of 19 different sequences was analyzed in a dendrographic plot, an accurate species differentiation was feasible

Descent directions of quasi-Newton methods for symmetric nonlinear equations

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