Operating Interaction and Teleprogramming for Subsea Manipulation

The teleprogramming paradigm has been proposed as a means to efficiently perform teleoperation in the subsea environment via an acoustical link. In such a system the effects of both limited bandwidth channels and delayed communications are overcome by transmitting not Cartesian or joint level information but rather symbolic, error-tolerant, program instructions to the remote site. The operator interacts with a virtual reality of the remote site which provides immediate visual and kinesthetic feedback. The uncertainty in this model can be reduced based on information received from the slave manipulator\u27s tactile contact with the environment. It is suggested that the current state of the model be made available to the operator via a graphical display which shows not only the position of objects at the remote site but also, through the use of color clues, the uncertainty associated with those positions. The provision of uncertainty information is important since it allows the operator to compromise between speed and accuracy. An additional operator aid, which we term synthetic fixturing, is proposed. Synthetic fixtures provide the operator of the teleprogramming system with the teleoperation equivalent of the snap commands common in computer aided design programs. By guiding the position and/or orientation of the master manipulator toward specific points, lines or planes the system is able to increase both the speed and precision with which the operator can control the slave arm without requiring sophisticated hardware

Die Lehre von der Beihilfe : eine zur Erlangung des Grades eines Magisters des Strafrechts der Juristischen Fakultät der Kaiserlichen Universität zu Dorpat vorgelegte Abhandlung

http://tartu.ester.ee/record=b2284116~S1*es

Die Lehre von der Beihilfe

Eine zur Erlangung des Grades eines Magisters des Strafrechts der Juristischen Fakultät der Kaiserlichen Universität zu Dorpat vorgelegte Abhandlun

Serial intravascular ultrasound assessment of changes in coronary atherosclerotic plaque dimensions and composition: an update

This manuscript reviews the use of serial intravascular ultrasound (IVUS) examination of coronary atherosclerosis in recent observational studies and randomized trials that revealed the effects of cholesterol-lowering and lipid-modifying therapies and offered novel insight into plaque progression and regression. We discuss the value of plaque progression–regression as complementary imaging endpoint and potential surrogate marker of cardiovascular event risk. In addition, the progress in serial assessment of coronary plaque composition and plaque vulnerability by radiofrequency-based analyses is reviewed. Finally, we report on the evaluation of true vessel remodelling in recent serial IVUS trials and discuss the future perspective of serial invasive imaging of coronary atherosclerosis