Hyperthermia heating apparatus

Electromagnetic energy is delivered to a localized area of a patient's body in a hyperthermic treatment so that it provides a uniform distribution of electromagnetic flux lines within the localized area of the patient's body and produces a uniform and localized heating gradient. An electrode array includes a number of electrodes which are arranged in pair, with the electrodes in each pair being spaced a particular distance apart. The array is driven by a balanced line system which is electromagnetically coupled to each pair of electrodes and which is shielded by a ground coaxial shield which itself is ground to the body of the patient. Each electrode is embedded in a Teflon stand-off in order to move the region of strong field, from the body, produced by rapidly changing potentials. The two pairs of electrodes forming a cross-like geometry are used with the balanced line systems. The electrical power is either multiplexed among the electrodes or the second pair is driven by a potential which is sinusoidal and which is 90% out of phase with the first balanced line system which is also sinusoidal

Application of imaging and ultrasound to the quality grading of beef

The results of a study conducted to assist the Department of Agriculture in the task of considering innovative methods for the grading of carcass beef for human consumption is presented. The processing of photographic, television and ultrasound images of the longissimus dorsi muscle at the 12/13th rib cut was undertaken. The results showed that a correlation could be developed between the quality grade of the carcass as determined by a professional grader, and the fat to area ratio of the muscle as determined by image processing techniques. In addition, the use of ultrasound shows the potential for grading of an unsliced carcass or a live animal

Stabilized Acoustic Levitation of Dense Materials Using a High-Powered Siren

Stabilized acoustic levitation and manipulation of dense (e.g., steel) objects of 1 cm diameter, using a high powered siren, was demonstrated in trials that investigated the harmonic content and spatial distribution of the acoustic field, as well as the effect of sample position and reflector geometries on the acoustic field. Although further optimization is possible, the most stable operation achieved is expected to be adequate for most containerless processing applications. Best stability was obtained with an open reflector system, using a flat lower reflector and a slightly concave upper one. Operation slightly below resonance enhances stability as this minimizes the second harmonic, which is suspected of being a particularly destabilizing influence

Advanced BIT* (ABIT*): Sampling-Based Planning with Advanced Graph-Search Techniques

Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues work to combine their strengths and mitigate their limitations using a unified planning paradigm. It does this by viewing the path planning problem as the two subproblems of search and approximation and using advanced graph-search techniques on a sampling-based approximation. This perspective leads to Advanced BIT*. ABIT* combines truncated anytime graph-based searches, such as ATD*, with anytime almost-surely asymptotically optimal sampling-based planners, such as RRT*. This allows it to quickly find initial solutions and then converge towards the optimum in an anytime manner. ABIT* outperforms existing single-query, sampling-based planners on the tested problems in $\mathbb{R}^{4}$ and $\mathbb{R}^{8}$, and was demonstrated on real-world problems with NASA/JPL-Caltech.Comment: IEEE International Conference on Robotics and Automation (ICRA) 2020, 6 + 1 pages, 3 figures, video available at https://youtu.be/VFdihv8Lq2

Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics

Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this informed search depends on the accuracy of the heuristic. Selecting an appropriate heuristic is difficult. Heuristics applicable to an entire problem domain are often simple to define and inexpensive to evaluate but may not be beneficial for a specific problem instance. Heuristics specific to a problem instance are often difficult to define or expensive to evaluate but can make the search itself trivial. This paper presents Adaptively Informed Trees (AIT*), an almost-surely asymptotically optimal sampling-based planner based on BIT*. AIT* adapts its search to each problem instance by using an asymmetric bidirectional search to simultaneously estimate and exploit a problem-specific heuristic. This allows it to quickly find initial solutions and converge towards the optimum. AIT* solves the tested problems as fast as RRT-Connect while also converging towards the optimum.Comment: IEEE International Conference on Robotics and Automation (ICRA) 2020, 6 + 2 pages, 5 figures, video available at https://youtu.be/twM723QM9T

Asymptotically Optimal Sampling-Based Motion Planning Methods

Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also optimize a cost function, such as path length. Formal path-quality guarantees for continuously valued search spaces are an active area of research interest. Recent results have proven that some sampling-based planning methods probabilistically converge toward the optimal solution as computational effort approaches infinity. This survey summarizes the assumptions behind these popular asymptotically optimal techniques and provides an introduction to the significant ongoing research on this topic.Comment: Posted with permission from the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4. Copyright 2021 by Annual Reviews, https://www.annualreviews.org/. 25 pages. 2 figure

The TeV spectrum of H1426+428

The BL Lac object H1426+428 was recently detected as a high energy gamma-ray source by the VERITAS collaboration (Horan et al. 2002). We have reanalyzed the 2001 portion of the data used in the detection in order to examine the spectrum of H1426+428 above 250 GeV. We find that the time-averaged spectrum agrees with a power law of the shape dF/dE = 10^(-7.31 +- 0.15(stat) +- 0.16(syst)) x E^(-3.50 +- 0.35(stat) +- 0.05(syst)) m^(-2)s^(-1)TeV^(-1) The statistical evidence from our data for emission above 2.5 TeV is 2.6 sigma. With 95% c.l., the integral flux of H1426+428 above 2.5 TeV is larger than 3% of the corresponding flux from the Crab Nebula. The spectrum is consistent with the (non-contemporaneous) measurement by Aharonian et al. (2002) both in shape and in normalization. Below 800 GeV, the data clearly favours a spectrum steeper than that of any other TeV Blazar observed so far indicating a difference in the processes involved either at the source or in the intervening space.Comment: LaTeX, 8 pages, 4 figures, accepted for publication in Ap

Search for High Energy Gamma Rays from an X-ray Selected Blazar Sample

Our understanding of blazars has been greatly increased in recent years by extensive multi-wavelength observations, particularly in the radio, X-ray and gamma-ray regions. Over the past decade the Whipple 10m telescope has contributed to this with the detection of 5 BL Lacertae objects at very high gamma-ray energies. The combination of multi-wavelength data has shown that blazars follow a well-defined sequence in terms of their broadband spectral properties. Together with providing constraints on emission models, this information has yielded a means by which potential sources of TeV emission may be identified and predictions made as to their possible gamma-ray flux. We have used the Whipple telescope to search for TeV gamma-ray emission from eight objects selected from a list of such candidates. No evidence has been found for VHE emission from the objects in our sample, and upper limits have been derived for the mean gamma-ray flux above 390GeV. These flux upper limits are compared with the model predictions and the implications of our results for future observations are discussed.Comment: 15 pages, 2 figures, Accepted for publication in Ap