HIGH ACCURATE POINTWISE (GEO-)REFERENCING OF A K-TLS BASED MULTI-SENSOR-SYSTEM

In recent years, the requirements in the industrial production, e.g., ships or planes, have been increased. In addition to high accuracy requirements with a standard deviation of 1 mm, an efficient 3D object capturing is required. In terms of efficiency, kinematic laser scanning (k-TLS) has been proven its worth in recent years. It can be seen as an alternative to the well established static terrestrial laser scanning (s-TLS). However, current k-TLS based multi-sensor-systems (MSS) are not able to fulfil the high accuracy requirements. Thus, a new k-TLS based MSS and suitable processing algorithms have to be developed. In this contribution a new k-TLS based MSS will be presented. The main focus will lie on the (geo-)referencing process. Due to the high accuracy requirements, a novel procedure of external (geo-)referencing is used here. Hereby, a mobile platform, which is equipped with a profile laser scanner, will be tracked by a laser tracker. Due to the fact that the measurement frequency of the laser scanner is significantly higher than the measurement frequency of the laser tracker a direct point wise (geo-)referencing is not possible. To enable this a Kalman filter model is set up and implemented. In the prediction step each point is shifted according to the determined velocity of the platform. Because of the nonlinear motion of the platform an iterative extended Kalman filter (iEKF) is used here. Furthermore, test measurements of a panel with the k-TLS based MSS and with s-TLS were carried out. To compare the results, the 3D distances with the M3C2-algorithm between the s-TLS 3D point cloud and the k-TLS 3D point cloud are estimated. It can be noted, that the usage of a system model for the (geo-)referencing is essential. The results show that the mentioned high accuracy requirements have been achieved

Few smooth d-polytopes with n lattice points

We prove that, for fixed n there exist only finitely many embeddings of Q-factorial toric varieties X into P^n that are induced by a complete linear system. The proof is based on a combinatorial result that for fixed nonnegative integers d and n, there are only finitely many smooth d-polytopes with n lattice points. We also enumerate all smooth 3-polytopes with at most 12 lattice points. In fact, it is sufficient to bound the singularities and the number of lattice points on edges to prove finiteness.Comment: 20+2 pages; major revision: new author, new structure, new result

Discrepancy between German S3 Guideline Recommendations and Daily Urologic Practice in the Management of Nonmuscle Invasive Bladder Cancer: Results of a Binational Survey

Introduction: Guideline recommendations are meant to help minimize morbidity and to improve the care of nonmuscle invasive bladder cancer (NMIBC) patients but studies have suggested an underuse of guideline-recommended care. The aim of this study was to evaluate the level of adherence of German and Austrian urologists to German guideline recommendations. Methods: A survey of 27 items evaluating diagnostic and therapeutic recommendations (15 cases of strong consensus and 6 cases of consensus) for NMIBC was administered among 14 urologic training courses. Survey construction and realization followed the checklist for reporting results of internet e-surveys and was approved by an internal review board. Results: Between January 2018 and June 2019, a total of 307 urologists responded to the questionnaire, with a mean response rate of 71%. The data showed a weak role of urine cytology (54%) for initial diagnostics although it is strongly recommended by the guideline. The most frequently used supporting diagnostic tool during transurethral resection of the bladder was hexaminolevulinate (95%). Contrary to the guideline recommendation, 38% of the participants performed a second resection in the case of pTa low-grade NMIBC. Correct monitoring of Bacille Calmette-Guerin (BCG) response with cystoscopy and cytology was performed by only 34% of the urologists. Conclusions: We found a discrepancy between certain guideline recommendations and daily routine practice concerning the use of urine cytology for initial diagnostics, instillation therapy with a low monitoring rate of BCG response, and follow-up care with unnecessary second resection after pTa low-grade NMIBC in particular. Our survey showed a moderate overall adherence rate of 73%. These results demonstrate the need for sharpening awareness of German guideline recommendations by promoting more intense education of urologists to optimize NMIBC care thus decreasing morbidity and mortality rates

Hidden politics of power and governmentality in transitional justice and peacebuilding:The problem of ‘bringing the local back in’

This paper examines ‘the local’ in peacebuilding by examining how ‘local’ transitional justice projects can become spaces of power inequalities. The paper argues that focusing on how ‘the local’ contests or interacts with ‘the international’ in peacebuilding and post-conflict contexts obscures contestations and power relations amongst different local actors, and how inequalities and power asymmetries can be entrenched and reproduced through internationally funded local projects. The paper argues that externally funded projects aimed at emancipating ‘locals’ entrench inequalities and create local elites that become complicit in governing the conduct and participation of other less empowered ‘locals’. The paper thus proposes that specific local actors—often those in charge of externally funded peacebuilding projects—should also be conceptualised as governing agents: able to discipline and regulate other local actors’ voices and their agency, and thus (re)construct ideas about what ‘the local’ is, or is not

Co-operation, Contestation and Complexity in Post-Conflict Security Sector Reform

Security Sector Reform (SSR) remains a key feature of peacebuilding interventions and is usually undertaken by a state alongside national and international partners. External actors engaged in SSR tend to follow a normative agenda that often has little regard for the context in post-conflict societies. Despite recurrent criticism, SSR practices of international organisations and bilateral donors often remain focused on state institutions, and often do not sufficiently attend to alternative providers of security or existing normative frameworks of security. This article provides a critical overview of existing research and introduces the special issue on “Co-operation, Contestation and Complexity in Post-Conflict Security Sector Reform”. We explore three aspects that add an important piece to the puzzle of what constitutes effective SSR. First, the variation of norm adoption, norm contestation and norm imposition in post-conflict countries that might explain the mixed results in terms of peacebuilding. Second, the multitude of different security actors within and beyond the state which often leads to multiple patterns of co-operation and contestation within reform programmes. And third, how both the multiplicity of and tension between norms and actors further complicate efforts to build peace or, as complexity theory would posit, influence the complex and non-linear social system that is the conflict-affected environment

The Politics of Institutional Reform and Post-Conflict Violence in Nepal

How does the reform of state institutions shape prospects for peace after war? Existing research on the institutional causes of peace focuses on how institutional designs, as the outcomes of reform processes, reduce post-conflict violence and promote peace. The literature does not, however, adequately address how the politics that characterise reform processes affect the legitimacy of institutions and whether or not violent protest against these institutions ultimately takes place. This focus risks omitting key explanations of how institutional reforms contribute to peace and the mechanisms by which this occurs. By examining the case of Nepal, where clashes between protesters and security forces killed almost 60 people between August 2015 and January 2016, this study shows that emotional rhetoric, elite control of decision-making, backtracking on previous commitments, the acceleration of reform processes, and the embedding of single reforms in a 'concert' of reforms that, as a whole, sparks fears of discrimination are all factors that can lead to post-conflict violence

Postchemotherapy residual tumour resection in complex metastatic sites of advanced testicular germ cell tumours

Postchemotherapy residual tumour resection (PC-RTR) is an integral part of the multimodal therapy for advanced testicular germ cell tumours. Depending on the extent and localisation of the residual mass, PC-RTR may necessitate a multidisciplinary procedure (which should be planned preoperatively), to resolve even complex situations in an oncologically sound manner, with lower treatment-related morbidity The aim of article is to report on the interdisciplinary management of complex residual masses. Of a total of 162 patients who underwent PC-RTR, 24 (17.8 %) patients underwent, in addition to a bilateral postchemotherapy retroperitoneal lymphadenectomy (PC-RPLND), complex adjunctive resections including the abdominal aorta, the inferior vena cava, or the thoracic/lumbar spine, and the neighbouring vessels (n = 15). We performed a retrospective analysis of treatment-associated complications according to the Clavien-Dindo classification and of progression-free, cancer-specific and overall survival. Median patient age was 24.5 (18-52) years. All patients had an intermediate or poor prognosis according to the International Germ Cell Cancer Collaboration Group (IGCCCG). Median tumour diameter at the time of surgery was 18.6 (9.0-35) cm. In 5 patients 1-2 metastatic lumbar vertebral bodies were completely resected, stabilised and replaced by means of a cage. In 6 patients resection of the abdominal aorta/inferior vena cava with vascular prosthesis replacement was required owing to infiltration. In 2 patients the common iliac artery or vein was resected and replaced. In addition, retrocrural lymph nodes had to be resected in 5 patients and 3 patients required adjunctive nephrectomy. In another 4 patients the Whipple procedure was required owing to infiltration into the pancreas and/or duodenum. The median operating time was 7.8 (6-15) h, the median blood loss was around 1,450 (900-3,400) ml, and 2 Clavien-Dindo grade IVa complications occurred. Pathohistology revealed teratoma/vital cancer in 16/24 patients and scarring/necrosis in 8 patients. After a median follow-up of 2.5 years, 1 patient developed recurrent disease and 1 patient died of the disease. Postchemotherapy, a few patients with advanced nonseminomas (NS) need complex residual tumour resection in an interdisciplinary setting, with a good functional and oncological outcome. Even the involvement of vascular vertebral structures does not constitute a contraindication for complete resection

COVID-19 in urology Influence of the pandemic on telemedicine, education and surgery

The COVID-19 (coronavirus disease 2019) pandemic has caused a worldwide economic and clinical disaster. During times with the highest infection rates, clinical practice for all specialties including urology shifted to the emergency setting. Proper patient selection needs to be done to avoid infection; however, there is a fine line between postponing surgery and negatively affecting the outcome of the disease to be treated. The rapid integration of telemedicine has helped to keep up outpatient medical care, interdisciplinary communication and education. Nevertheless, surgical education of urological residents initially fell behind. The real impact of the COVID-19 pandemic on urology will probably first be seen after the awaited vaccine and control of COVID-19