Ambulatory position and orientation tracking fusing magnetic and inertial sensing

This paper presents the design and testing of a portable magnetic system combined with miniature inertial sensors for ambulatory 6 degrees of freedom ( DOF) human motion tracking. The magnetic system consists of three orthogonal coils, the source, fixed to the body and 3-D magnetic sensors, fixed to remote body segments, which measure the fields generated by the source. Based on the measured signals, a processor calculates the relative positions and orientations between source and sensor. Magnetic actuation requires a substantial amount of energy which limits the update rate with a set of batteries. Moreover, the magnetic field can easily be disturbed by ferromagnetic materials or other sources. Inertial sensors can be sampled at high rates, require only little energy and do not suffer from magnetic interferences. However, accelerometers and gyroscopes can only measure changes in position and orientation and suffer from integration drift. By combing measurements from both systems in a complementary Kalman filter structure, an optimal solution for position and orientation estimates is obtained. The magnetic system provides 6 DOF measurements at a relatively low update rate while the inertial sensors track the changes position and orientation in between the magnetic updates. The implemented system is tested against a lab-bound camera tracking system for several functional body movements. The accuracy was about 5 mm for position and 3 degrees for orientation measurements. Errors were higher during movements with high velocities due to relative movement between source and sensor within one cycle of magnetic actuation

Point defect concentrations in metastable Fe-C alloys

Point defect species and concentrations in metastable Fe-C alloys are determined using density functional theory and a constrained free-energy functional. Carbon interstitials dominate unless iron vacancies are in significant excess, whereas excess carbon causes greatly enhances vacancy concentration. Our predictions are amenable to experimental verification; they provide a baseline for rationalizing complex microstructures known in hardened and tempered steels, and by extension other technological materials created by or subjected to extreme environments

ENSAT registry-based randomized clinical trials for adrenocortical carcinoma

Adrenocortical carcinoma (ACC) is an orphan disease lacking effective systemic treatment options. The low incidence of the disease and high cost of clinical trials are major obstacles in the search for improved treatment strategies. As a novel approach, registry-based clinical trials have been introduced in clinical research, so allowing for significant cost reduction, but without compromising scientific benefit. Herein, we describe how the European Network for the Study of Adrenal Tumours (ENSAT) could transform its current registry into one fit for a clinical trial infrastructure. The rationale to perform randomized registry-based trials in ACC is outlined including an analysis of relevant limitations and challenges. We summarize a survey on this concept among ENSAT members who expressed a strong interest in the concept and rated its scientific potential as high. Legal aspects, including ethical approval of registry-based randomization were identified as potential obstacles. Finally, we describe three potential randomized registry-based clinical trials in an adjuvant setting and for advanced disease with a high potential to be executed within the framework of an advanced ENSAT registry. Thus we, therefore, provide the basis for future registry-based trials for ACC patients. This could ultimately provide proof-of-principle of how to perform more effective randomized trials for an orphan disease

SENSOR FUSION FOR AUGMENTED REALITY

Abstract: In Augmented Reality, the position and orientation of the camera have to be estimated very accurately. This paper proposes a model to fuse inertial and vision measurements in a Kalman filter framework. The resulting filter has good tracking performance, even for fast movements