Machine vision based teleoperation aid

When teleoperating a robot using video from a remote camera, it is difficult for the operator to gauge depth and orientation from a single view. In addition, there are situations where a camera mounted for viewing by the teleoperator during a teleoperation task may not be able to see the tool tip, or the viewing angle may not be intuitive (requiring extensive training to reduce the risk of incorrect or dangerous moves by the teleoperator). A machine vision based teleoperator aid is presented which uses the operator's camera view to compute an object's pose (position and orientation), and then overlays onto the operator's screen information on the object's current and desired positions. The operator can choose to display orientation and translation information as graphics and/or text. This aid provides easily assimilated depth and relative orientation information to the teleoperator. The camera may be mounted at any known orientation relative to the tool tip. A preliminary experiment with human operators was conducted and showed that task accuracies were significantly greater with than without this aid

Chronic appendicular abscess presenting as a complex adnexal mass: A case report

Background: The authors present an unusual presentation of a chronic appendicular abscess. A 57-year-old presented to the emergency department with acute on chronic abdominal pain, worsening abdominal distention and decreased appetite. Abdominal imaging revealed the presence of a multi-septated cystic right adnexal mass concerning for metastatic ovarian carcinoma. Intra-operatively the diagnosis of a likely chronic ruptured appendix at the base of the colon was confirmed. In postmenopausal women the majority of adnexal masses are benign neoplasms, however, the risk of malignancy is much greater than in premenopausal women. Postmenopausal women with clinical symptoms and findings on diagnostic imaging suggestive of malignancy warrant expedited management. While imaging and biomarkers help to give insight into origin of masses and can aid in determining treatment, diagnostic operations may be ultimately required to achieve final diagnosis and direct further management.Methods: All data collected was de identified and kept within a secure location.Results: Adnexal masses can present in a variety of ways and yield pathology from simple cysts to infectious process or even metastatic carcinoma. On the contrary, the diagnosis of acute appendicitis is typically straight forward, classically manifesting with acute periumbilical pain localizing to the right lower quadrant, abdominal guarding, and leukocytosis. The atypical presentation of chronic appendicitis can often lead to misdiagnosis, particularly in sexually active females, or as in our case, patients presenting with symptoms consistent with an ovarian malignancy.Conclusions: Chronic appendicitis (CA) is a rare clinical entity with an incidence of 1.5% in all cases of chronic abdominal pain of unknown etiology. CA poses as a diagnostic and therapeutic dilemma for clinicians since a majority of patients present with atypical symptoms. It is very rarely thought to be the primary diagnosis due to the low frequency of occurrence. A postmenopausal patient with chronic worsening abdominal pain, distention, and decreased appetite presenting with a complex adnexal mass and ascites is highly suspicious for ovarian malignancy. It is imperative to thoroughly review all images and consider subsequent imaging modalities to ensure infectious etiologies are excluded, but ultimately, diagnostic operations may be inevitable

Application of Fiber Optic Instrumentation

Fiber optic sensing technology has emerged in recent years offering tremendous advantages over conventional aircraft instrumentation systems. The advantages of fiber optic sensors over their conventional counterparts are well established; they are lighter, smaller, and can provide enormous numbers of measurements at a fraction of the total sensor weight. After a brief overview of conventional and fiber-optic sensing technology, this paper presents an overview of the research that has been conducted at NASA Dryden Flight Research Center in recent years to advance this promising new technology. Research and development areas include system and algorithm development, sensor characterization and attachment, and real-time experimentally-derived parameter monitoring for ground- and flight-based applications. The vision of fiber optic smart structure technology is presented and its potential benefits to aerospace vehicles throughout the lifecycle, from preliminary design to final retirement, are presented

ALPHA-CHLORALOSE EFFICACY IN CAPTURING NUISANCE WATERFOWL AND PIGEONS AND CURRENT STATUS OF FDA REGISTRATION

During 1990 and 1991 we conducted safety, efficacy and clinical trials required to register alpha-chloralose (A-C) for capturing nuisance waterfowl and pigeons with the U.S. Food and Drug Administration (FDA). We determined the Most Effective Dose (MED) to be 30 and 60 mg of A-C/kg of body weight for capturing waterfowl and pigeons, respectively. We conducted 11 field trials in 4 states, capturing 587 waterfowl and 1,370 pigeons with 8% mortality for ducks, 0% for geese, and 6% for pigeons. We submitted a New Animal Drug Application to FDA in October 1991 and anticipate registration in 1992

Interaction of the oncoprotein transcription factor MYC with its chromatin cofactor WDR5 is essential for tumor maintenance.

The oncoprotein transcription factor MYC is overexpressed in the majority of cancers. Key to its oncogenic activity is the ability of MYC to regulate gene expression patterns that drive and maintain the malignant state. MYC is also considered a validated anticancer target, but efforts to pharmacologically inhibit MYC have failed. The dependence of MYC on cofactors creates opportunities for therapeutic intervention, but for any cofactor this requires structural understanding of how the cofactor interacts with MYC, knowledge of the role it plays in MYC function, and demonstration that disrupting the cofactor interaction will cause existing cancers to regress. One cofactor for which structural information is available is WDR5, which interacts with MYC to facilitate its recruitment to chromatin. To explore whether disruption of the MYC-WDR5 interaction could potentially become a viable anticancer strategy, we developed a Burkitt\u27s lymphoma system that allows replacement of wild-type MYC for mutants that are defective for WDR5 binding or all known nuclear MYC functions. Using this system, we show that WDR5 recruits MYC to chromatin to control the expression of genes linked to biomass accumulation. We further show that disrupting the MYC-WDR5 interaction within the context of an existing cancer promotes rapid and comprehensive tumor regression in vivo. These observations connect WDR5 to a core tumorigenic function of MYC and establish that, if a therapeutic window can be established, MYC-WDR5 inhibitors could be developed as anticancer agents

Method and Apparatus of Multiplexing and Acquiring Data from Multiple Optical Fibers Using a Single Data Channel of an Optical Frequency-Domain Reflectometry (OFDR) System

A method and system for multiplexing a network of parallel fiber Bragg grating (FBG) sensor-fibers to a single acquisition channel of a closed Michelson interferometer system via a fiber splitter by distinguishing each branch of fiber sensors in the spatial domain. On each branch of the splitter, the fibers have a specific pre-determined length, effectively separating each branch of fiber sensors spatially. In the spatial domain the fiber branches are seen as part of one acquisition channel on the interrogation system. However, the FBG-reference arm beat frequency information for each fiber is retained. Since the beat frequency is generated between the reference arm, the effective fiber length of each successive branch includes the entire length of the preceding branch. The multiple branches are seen as one fiber having three segments where the segments can be resolved. This greatly simplifies optical, electronic and computational complexity, and is especially suited for use in multiplexed or branched OFS networks for SHM of large and/or distributed structures which need a lot of measurement points

Detection of Dynamic Spatiotemporal Response to Periodic Chemical Stimulation in a Xenopus Embryonic Tissue

Embryonic development is guided by a complex and integrated set of stimuli that results in collective system-wide organization that is both time and space regulated. These regulatory interactions result in the emergence of highly functional units, which are correlated to frequency-modulated stimulation profiles. We have determined the dynamic response of vertebrate embryonic tissues to highly controlled, time-varying localized chemical stimulation using a microfluidic system with feedback control. Our approach has enabled localized spatiotemporal manipulation of the steroid hormone dexamethasone (DEX) in Animal Cap (AC) tissues isolated from gastrulating Xenopus embryos. Using this approach we investigated cell-scale responses to precisely controlled stimulation by tracking the redistribution of a GFP-tagged DEX-reporter constructed from the human glucocorticoid receptor (GR). We exposed defined regions of a single AC explant to different stimulation conditions—continuous stimulation, periodic stimulation, and no stimulation. We observed collective behavior of the GR transport into the nucleus was first-order. Furthermore, the dynamic response was well-modeled by a first-order differential equation with a single time derivative. The model predicted that responses to periodic stimulations closely matched the results of the frequency-based experiments. We find that stimulation with localized bursts versus continuous stimulation can result in highly distinct responses. This finding is critical as controlled space and time exposure to growth factors is a hallmark of complex processes in embryonic development. These complex responses to cellular signaling and transport machinery were similar to emergent behaviors in other complex systems, suggesting that even within a complex embryonic tissue, the overall system can converge toward a predictive first-order response

Fiber Optic Wing Shape Sensing on NASA's Ikhana UAV

This document discusses the development of fiber optic wing shape sensing on NASA's Ikhana vehicle. The Dryden Flight Research Center's Aerostructures Branch initiated fiber-optic instrumentation development efforts in the mid-1990s. Motivated by a failure to control wing dihedral resulting in a mishap with the Helios aircraft, new wing displacement techniques were developed. Research objectives for Ikhana included validating fiber optic sensor measurements and real-time wing shape sensing predictions; the validation of fiber optic mathematical models and design tools; assessing technical viability and, if applicable, developing methodology and approaches to incorporate wing shape measurements within the vehicle flight control system; and, developing and flight validating approaches to perform active wing shape control using conventional control surfaces and active material concepts

Real-time In-Flight Strain and Deflection Monitoring with Fiber Optic Sensors

This viewgraph presentation reviews Dryden's efforts to develop in-flight monitoring based on Fiber Optics. One of the motivating factors for this development was the breakup of the Helios aircraft. On Ikhana the use of fiber optics for wing shape sensing is being developed. They are being used to flight validate fiber optic sensor measurements and real-time wing shape sensing predictions on NASA's Ikhana vehicle; validate fiber optic mathematical models and design tools; Assess technical viability and, if applicable, develop methodology and approach to incorporate wing shape measurements within the vehicle flight control system, and develop and flight validate advanced approaches to perform active wing shape control

Deformed Shape Calculation of a Full-Scale Wing Using Fiber Optic Strain Data from a Ground Loads Test

A ground loads test of a full-scale wing (175-ft span) was conducted using a fiber optic strain-sensing system to obtain distributed surface strain data. These data were input into previously developed deformed shape equations to calculate the wing s bending and twist deformation. A photogrammetry system measured actual shape deformation. The wing deflections reached 100 percent of the positive design limit load (equivalent to 3 g) and 97 percent of the negative design limit load (equivalent to -1 g). The calculated wing bending results were in excellent agreement with the actual bending; tip deflections were within +/- 2.7 in. (out of 155-in. max deflection) for 91 percent of the load steps. Experimental testing revealed valuable opportunities for improving the deformed shape equations robustness to real world (not perfect) strain data, which previous analytical testing did not detect. These improvements, which include filtering methods developed in this work, minimize errors due to numerical anomalies discovered in the remaining 9 percent of the load steps. As a result, all load steps attained +/- 2.7 in. accuracy. Wing twist results were very sensitive to errors in bending and require further development. A sensitivity analysis and recommendations for fiber implementation practices, along with, effective filtering methods are include