Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems

This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising from onboard visual servoing in partially engineered environments. We propose a general hybrid procedure that adapts to the constrained motion setting the standard feedback controller arising from a navigation function in the fully actuated case. This is accomplished by switching back and forth between moving down and across the associated gradient field toward the stable manifold it induces in the constrained dynamics. Guaranteed to avoid obstacles in all cases, we provide conditions under which the new procedure brings initial configurations to within an arbitrarily small neighborhood of the goal. We summarize simulation results on a sample of visual servoing problems with a few different perceptual models. We document the empirical effectiveness of the proposed algorithm by reporting the results of its application to outdoor autonomous visual registration experiments with the robot RHex guided by engineered beacons

THREE-DIMENSIONAL RECONSTRUCTION OF THE HUMAN MOTION BASED ON IMAGES FROM A SINGLE CAMERA

It is widely accepted that the photograms of two or more cameras are required for the spatial reconstruction of the human motion. Each projection of the spatial coordinates of a given anatomical point of the human body is described by two equations. Consequently, two or more cameras are necessary for at least three independent linear equations required to obtain the original three coordinates of the point from its projected positions. If n cameras are used in the reconstruction process 2n equations are available for that purpose. In this case more equations than unknowns are available, and the solution for the reconstruction must minimize the error in those equations. Regardless of the number of cameras available, no information of the biomechanical model is generally used during the reconstruction process. In this work, a biomechanical model of 16 segments is used to support the motion reconstruction. The kinematic equations that characterize the dependency between the Cartesian coordinates of the points describing each component of the biomechanical model are used together with the two equations describing their projection in each frame. The single triangle describing the lower torso is defined by three points corresponding to nine spatial coordinates. For a given frame of a single camera six independent linear equations are defined. The remaining three equations needed to the spatial reconstruction of the triangle are the kinematic constraint equations ensuring that the distance between each two points remains constant throughout the motion. The system of nonlinear equations defined in this form has multiple solutions. For each subsequent camera frame the same process is followed to obtain the multiple solutions of the triangle reconstruction. The motion of the triangle representing the lower torso is selected as the combination of the solutions of the independent frames that minimizes a given function, defined as a measure of the smoothness of the triangle motion, variation of its angular orientation or increment of its distance between frames. Only the two solutions for the motion corresponding to the lower values of the functional, evaluated during four frames, are kept. Assuming that the motion for both solutions is feasible for the remaining frames, the method proceeds with the reconstruction of the segments adjacent to the lower torso, followed by the segments adjacent to the first set and so forth. A branch of solutions is eliminated if it cannot proceed from one frame to the next, either because no solution is possible or because the reconstructed motion develops behind the camera. Finally the reconstruction of the full motion is obtained in an automatic form. The methodology is applied to a case of complex human body motion demonstrating that it is feasible to reconstruct the three dimensional human motion using the photograms of a single stationary camera and a consistent biomechanical model

Influence of cone-beam computed tomography image artifacts on the determination of dental arch measurements

Objective: To compare dental plaster model (DPM) and cone-beam computed tomography (CBCT) in the measurement of the dental arches, and investigate whether CBCT image artifacts compromise the reliability of such measurements. Materials and Methods: Twenty patients were divided into two groups based on the presence or absence of metallic restorations in the posterior teeth. Both dental arches of the patients were scanned with the CBCT unit i-CAT, and DPMs were obtained. Two examiners obtained eight arch measurements on the CBCT images and DPMs and repeated this procedure 15 days later. The arch measurements of each patient group were compared separately by the Wilcoxon rank sum (Mann-Whitney U) test, with a significance level of 5% (alpha = .05). Intraclass correlation measured the level of intraobserver agreement. Results: Patients with healthy teeth showed no significant difference between all DPM and CBCT arch measurements (P > .05). Patients with metallic restoration showed significant difference between DPM and CBCT for the majority of the arch measurements (P > .05). The two examiners showed excellent intraobserver agreement for both measuring methods with intraclass correlation coefficient higher than 0.95. Conclusion: CBCT provided the same accuracy as DPM in the measurement of the dental arches, and was negatively influenced by the presence of image artifacts.To compare dental plaster model (DPM) and cone-beam computed tomography (CBCT) in the measurement of the dental arches, and investigate whether CBCT image artifacts compromise the reliability of such measurements. Twenty patients were divided into two gro842274278sem informaçãosem informaçã

Image Quality In Partially Erased Denoptix® Storage Phosphor Plates

This study aimed at investigating the effect of the partial erasing of DenOptix® system storage phosphor plates on the image quality of digital radiographs. Standardized digital radiographs were acquired of a phantom mandible, using size 2 intraoral DenOptix® storage phosphor plates (n = 10). Subsequently, the active areas of the plates were placed in a viewing box with a constant light intensity of 1,700 lux for 130 seconds to achieve complete erasing (control plate), as well as for 0, 5, 10, 1S, 20, 25, 34, 66, and 98 seconds, to compose the experimental group of partially erased plates. The same exposure settings were repeated using the control and experimental plates, which were scanned at a resolution of 300 dpi. Five radiologists independently examined the pairs of digital radiographs obtained with the control and partially erased plates, in random order, and indicated the best image for oral diagnosis. Cochran-Mantel-Haenszel's chi-square test, at a significance level of 5%, was used to compare the percentages of superior quality images in each combination of control and partially erased plates, subjectively assessed. No significant differences were found between radiographic images acquired with control and partially erased plates, except for the combination of 0 second (30%) versus 130 seconds (70%), p = 0.0047. It can be concluded that, under adequate light intensity conditions, erasing intraoral DenOptix® storage phosphor plates may require time intervals of as little as 5 seconds.2217883Akdeniz, B.G., Gröndahl, H.G., Kose, T., Effect of delayed scanning of storage phosphor plates (2005) Oral Surg Oral Med Oral Pathol Oral Radiol Endod, 99 (5), pp. 603-607Akdeniz, B.G., Gröndahl, H.G., Degradation of storage phosphor images due to scanning delay (2006) Dentomaxillofac Radiol, 35 (2), pp. 74-77Almeida, S.M., Oliveira, A.E.F., Ferreira, R.I., Bóscolo, F.N., Image quality in digital radiographic systems (2003) Braz Dent J, 14 (2), pp. 136-141Borg, E., Attaelmanan, A., Gröndahl, H.G., Subjective image quality of solid-state and photostimulable phosphor systems for digital intra-oral radiography (2000) Dentomaxillofac Radiol, 29 (2), pp. 70-75Ferreira, R.I., Haiter-Neto, F., Tabchoury, C.P.M., Paiva, G.A.N., Bóscolo, F.N., Assessment of enamel demineralization using conventional, digital, and digitized radiography (2006) Braz Oral Res, 20 (2), pp. 114-119Wenzel, A., Gröndahl, H.G., Direct digital radiography in the dental office (1995) Int Dent J, 45 (1), pp. 27-34Oliveira, A.E., Almeida, S.M., Paganini, G.A., Haiter Neto, F., Bóscolo, F.N., Comparative study of two digjtal radiographic storage phosphor systems (2000) Braz Dent J, 11 (2), pp. 111-116Borg, E., Attaelmanan, A., Gröndahl, H.G., Image plate systems differ in physical performance (2000) Oral Surg Oral Med Oral Pathol Oral Radiol Endod, 89 (1), pp. 118-124Martins, M.G.B.Q., Haiter Neto, F., Whaites, E.J., Analysis of digital images acquired using different phosphor storage plates (PSPs) subjected to varying reading times and storage conditions (2003) Dentomaxillofac Radiol, 32 (3), pp. 186-190(1998) DenOptix digital imaging system - user manual and installation guide, , Gendex Dental X-Ray Division, Des Plaines: The Division;Menig, J.J., The DenOptix digital radiographic system (1999) J Clin Orthod, 33 (7), pp. 407-410Berkhout WE, Beuger DA, Sanderink GC, van der Stelt PF. The dynamic range of digital radiographic systems: dose reduction or risk of overexposure? Dentomaxillofac Radiol. 2004;33(1):1-SHildebolt, C.F., Couture, R.A., Whiting, B.R., Dental photostimulable phosphor radiography (2000) Dent Clin North Am, 44 (2), pp. 273-297Martins, M.G.B.Q., Whaites, E.J., Ambrosano, G.M.B., Haiter Neto, F., What happens if you delay scanning Digora phosphor storage plates (PSPs) for up to 4 hours? (2006) Dentomaxillofac Radiol, 35 (3), pp. 143-146Gröndahl, H.G., Wenzel, A., Borg, E., Tammisalo, E., An image plate system for digital intra-oral radiography (1996) Dent Update, 23 (8), pp. 334-33

Effects of exercise programs on phase angle in older adults: a systematic review and meta-analysis.

The purpose of this study was to calculate the effects of exercise programs on phase angle (PhA) in older people. A systematic review was undertaken in multiple electronic databases in accordance with the Preferred Reporting Items for Systematic Reviews and Meta-analyses statement guidelines for the purposes of selecting randomized controlled trials that measured the effects of the exercise programs on PhA in older adults on 31 March 2022. We carried out a random-effect meta-analysis for the effects of exercise programs on PhA. Additionally, we analysed the differences between subgroups in terms of weekly frequency, number of sets and repetitions, and duration of interventions. Studies were methodological assessed through the PEDro scale where one had excellent, ten had good, and three had poor methodological quality. For the purposes of the study, fourteen studies met the criteria for inclusion. However, four studies did not have enough information to be included in the quantitative analysis. The remaining ten articles revealed moderate effects on PhA in favour of intervention groups (p=0.009, SMD=0.72 [0.46–0.99], I2=54%). The meta-analysis also showed that interventions lasting twelve weeks are more successful in generating positive effects on PhA as opposed to eight weeks (SMD’s=0.79 vs. 0.64, respectively). These results indicate that resistance training (RT) is an effective and safe to improve PhA in the older people, especially through RT programs lasting from eight to twelve weeks. A novel finding of this study was that RT is the most used type of exercise by authors when assessing the PhA in older adults

Inelastic Scattering Time for Conductance Fluctuations

We revisit the problem of inelastic times governing the temperature behavior of the weak localization correction and mesoscopic fluctuations in one- and two-dimensional systems. It is shown that, for dephasing by the electron electron interaction, not only are those times identical but the scaling functions are also the same.Comment: 10 pages Revtex; 5 eps files include

Material screening and selection for XENON100

Results of the extensive radioactivity screening campaign to identify materials for the construction of XENON100 are reported. This Dark Matter search experiment is operated underground at Laboratori Nazionali del Gran Sasso (LNGS), Italy. Several ultra sensitive High Purity Germanium detectors (HPGe) have been used for gamma ray spectrometry. Mass spectrometry has been applied for a few low mass plastic samples. Detailed tables with the radioactive contaminations of all screened samples are presented, together with the implications for XENON100.Comment: 8 pages, 1 figur

Design and Performance of the XENON10 Dark Matter Experiment

XENON10 is the first two-phase xenon time projection chamber (TPC) developed within the XENON dark matter search program. The TPC, with an active liquid xenon (LXe) mass of about 14 kg, was installed at the Gran Sasso underground laboratory (LNGS) in Italy, and operated for more than one year, with excellent stability and performance. Results from a dark matter search with XENON10 have been published elsewhere. In this paper, we summarize the design and performance of the detector and its subsystems, based on calibration data using sources of gamma-rays and neutrons as well as background and Monte Carlo simulations data. The results on the detector's energy threshold, energy and position resolution, and overall efficiency show a performance that exceeds design specifications, in view of the very low energy threshold achieved (<10 keVr) and the excellent energy resolution achieved by combining the ionization and scintillation signals, detected simultaneously

Elephant grass silage inoculated with cellulolytic fungi isolated from rumen

ABSTRACT The objective was to evaluate the inoculation with Aspergillus terreus and/or Trichoderma longibrachiatum on fermentation, chemical and microbiological composition of elephant grass ‘Cameroon’ silage (Cenchrus purpureus). Treatments were A. terreus at 105 colony forming units (CFU)/g (AT15), T. longibrachiatum at 105 CFU/g (TL20), a mixture of both at 105 CFU/g (MIX), and a control group without inoculation (CONTR). The design was completely randomized with seven replicates. The MIX silage was most stable, while CONTR, AT15, and TL20, had lower dry matter losses. There was no effect of inoculation in the chemical composition of silages. Only MIX silage (4.40) had pH above the minimum of 4.2 for humid grass silage and above the control (4.05). Bacteria from Diplococcus genus was identified at the opening of TL20 and CONTR silages. After air exposure, the population of rods, Lactobacillus, and total lactic acid bacteria was higher in theTL20 and MIX. The inclusion of a T. longibrachiatum and A. terreus mixture increases dry mater loss and silage pH. T. longibrachiatum was more efficient in maintaining populations of total lactic acid bacteria after opening; therefore, this strain has potential as an additive for elephant grass ‘Cameroon’ silage