1,091 research outputs found
Tracking objects with point clouds from vision and touch
We present an object-tracking framework that fuses point cloud information from an RGB-D camera with tactile information from a GelSight contact sensor. GelSight can be treated as a source of dense local geometric information, which we incorporate directly into a conventional point-cloud-based articulated object tracker based on signed-distance functions. Our implementation runs at 12 Hz using an online depth reconstruction algorithm for GelSight and a modified second-order update for the tracking algorithm. We present data from hardware experiments demonstrating that the addition of contact-based geometric information significantly improves the pose accuracy during contact, and provides robustness to occlusions of small objects by the robot's end effector
Dissociation constants and thermodynamic properties of amino acids used in CO2 absorption from (293 to 353) K
The second dissociation constants of the amino acids βalanine, taurine, sarcosine, 6-aminohexanoic acid, DL-methionine, glycine, L-phenylalanine, and L-proline and the third dissociation constants of L-glutamic acid and L-aspartic acid have been determined from electromotive force measurements at temperatures from (293 to 353) K. Experimental results are reported and compared to literature values. Values of the standard state thermodynamic properties are derived from the experimental results and compared to the values of commercially available amines used as absorbents for CO 2 capture.
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FFTF implementation of training requirments for government owned facilities
The Fst Flux Facility (FFTF) is a liquid metal cooled, fast flux reactor plant. It is owned by the Department of Energy (DOE) and is operated by the Hanford Engineering Development Laboratory (HEDL) under a DOE contract with Westinghouse Hanford Company. The FFTF is presently undergoing acceptance testing of sodium systems in preparation for initial criticality in August 1979. It will be used to test fuels and materials, to develop associated components and to gain operating experience for future LMFBR's. The FFTF Training Program is a specific example of how training guidelines provided by NRC can be implemented in principle in a DOE owned reactor. The DOE requirements for government owned facilities and the NRC requirements for commercially owned facilities are compared to components of the FFTF Training program. These components will be described, actual status provided and evaluated as to meeting requirements. Cold Plant Qualification (equivalent to NRC Col Plant Licensing) is the next major milestone for FFTF Operator training. Additional requirements or constraints such as operator time utilization, recruiting and turnover, plant availbility and startup testing greatly affect the ability to meet this milestone. These constraints and requirements and the resulting compromises will be evaluated relative to meeting DOE requirements
Effect of base–acid properties of the mixtures of water with methanol on the solution enthalpy of selected cyclic ethers in this mixture at 298.15 K
The enthalpies of solution of cyclic ethers: 1,4-
dioxane, 12-crown-4 and 18-crown-6 in the mixture of
water and methanol have been measured within the whole
mole fraction range at T = 298.15 K. Based on the obtained
data, the effect of base–acid properties of water–
methanol mixtures on the solution enthalpy of cyclic ethers
in these mixtures has been analyzed. The solution enthalpy
of cyclic ethers depends on acid properties of water–
methanol mixtures in the range of high and medium water
contents in the mixture. Based on the analysis performed, it
can be assumed that in the mixtures of high methanol
contents, cyclic ethe
Attitudes towards risk-reducing early salpingectomy with delayed oophorectomy for ovarian cancer prevention: a cohort study
OBJECTIVE: To determine risk-reducing early salpingectomy and delayed oophorectomy (RRESDO) acceptability and effect of surgical prevention on menopausal sequelae/satisfaction/regret in women at increased ovarian cancer (OC) risk. DESIGN: Multicentre, cohort, questionnaire study (IRSCTN:12310993). SETTING: United Kingdom (UK). POPULATION: UK women without OC ≥18 years, at increased OC risk, with/without previous RRSO, ascertained through specialist familial cancer/genetic clinics and BRCA support groups. METHODS: Participants completed a 39-item questionnaire. Baseline characteristics were described using descriptive statistics. Logistic/linear regression models analysed the impact of variables on RRESDO acceptability and health outcomes. MAIN OUTCOMES: RRESDO acceptability, menopausal sequelae, satisfaction/regret. RESULTS: In all, 346 of 683 participants underwent risk-reducing salpingo-oophorectomy (RRSO). Of premenopausal women who had not undergone RRSO, 69.1% (181/262) found it acceptable to participate in a research study offering RRESDO. Premenopausal women concerned about sexual dysfunction were more likely to find RRESDO acceptable (odds ratio [OR] = 2.9, 95% CI 1.2-7.7, P = 0.025). Women experiencing sexual dysfunction after premenopausal RRSO were more likely to find RRESDO acceptable in retrospect (OR = 5.3, 95% CI 1.2-27.5, P < 0.031). In all, 88.8% (143/161) premenopausal and 95.2% (80/84) postmenopausal women who underwent RRSO, respectively, were satisfied with their decision, whereas 9.4% (15/160) premenopausal and 1.2% (1/81) postmenopausal women who underwent RRSO regretted their decision. HRT uptake in premenopausal individuals without breast cancer (BC) was 74.1% (80/108). HRT use did not significantly affect satisfaction/regret levels but did reduce symptoms of vaginal dryness (OR = 0.4, 95% CI 0.2-0.9, P = 0.025). CONCLUSION: Data show high RRESDO acceptability, particularly in women concerned about sexual dysfunction. Although RRSO satisfaction remains high, regret rates are much higher for premenopausal women than for postmenopausal women. HRT use following premenopausal RRSO does not increase satisfaction but does reduce vaginal dryness. TWEETABLE ABSTRACT: RRESDO has high acceptability among premenopausal women at increased ovarian cancer risk, particularly those concerned about sexual dysfunction
Search for Flavoured Multiquarks in a Simple Bag Model
We use a bag model to study flavoured mesonic and baryonic
states, where one heavy quark is associated with
light quarks or antiquarks, and search for possible stable multiquarks. No
bound state is found. However some states lie not too high above their
dissociation threshold, suggesting the possibility of resonances, or perhaps
bound states in improved models.Comment: REVTEX, VERSION 3.
Attitudes towards risk-reducing early salpingectomy with delayed oophorectomy for ovarian cancer prevention:a cohort study
Objective: To determine risk-reducing early salpingectomy and delayed oophorectomy (RRESDO) acceptability and effect of surgical prevention on menopausal sequelae/satisfaction/regret in women at increased ovarian cancer (OC) risk. Design: Multicentre, cohort, questionnaire study (IRSCTN:12310993). Setting: United Kingdom (UK). Population: UK women without OC ≥18 years, at increased OC risk, with/without previous RRSO, ascertained through specialist familial cancer/genetic clinics and BRCA support groups. Methods: Participants completed a 39-item questionnaire. Baseline characteristics were described using descriptive statistics. Logistic/linear regression models analysed the impact of variables on RRESDO acceptability and health outcomes. Main outcomes: RRESDO acceptability, menopausal sequelae, satisfaction/regret. Results: In all, 346 of 683 participants underwent risk-reducing salpingo-oophorectomy (RRSO). Of premenopausal women who had not undergone RRSO, 69.1% (181/262) found it acceptable to participate in a research study offering RRESDO. Premenopausal women concerned about sexual dysfunction were more likely to find RRESDO acceptable (odds ratio [OR] = 2.9, 95% CI 1.2–7.7, P = 0.025). Women experiencing sexual dysfunction after premenopausal RRSO were more likely to find RRESDO acceptable in retrospect (OR = 5.3, 95% CI 1.2–27.5, P < 0.031). In all, 88.8% (143/161) premenopausal and 95.2% (80/84) postmenopausal women who underwent RRSO, respectively, were satisfied with their decision, whereas 9.4% (15/160) premenopausal and 1.2% (1/81) postmenopausal women who underwent RRSO regretted their decision. HRT uptake in premenopausal individuals without breast cancer (BC) was 74.1% (80/108). HRT use did not significantly affect satisfaction/regret levels but did reduce symptoms of vaginal dryness (OR = 0.4, 95% CI 0.2–0.9, P = 0.025). Conclusion: Data show high RRESDO acceptability, particularly in women concerned about sexual dysfunction. Although RRSO satisfaction remains high, regret rates are much higher for premenopausal women than for postmenopausal women. HRT use following premenopausal RRSO does not increase satisfaction but does reduce vaginal dryness. Tweetable abstract: RRESDO has high acceptability among premenopausal women at increased ovarian cancer risk, particularly those concerned about sexual dysfunction.Peer reviewe
Mathematical Modelling of Optical Coherence Tomography
In this chapter a general mathematical model of Optical Coherence Tomography
(OCT) is presented on the basis of the electromagnetic theory. OCT produces
high resolution images of the inner structure of biological tissues. Images are
obtained by measuring the time delay and the intensity of the backscattered
light from the sample considering also the coherence properties of light. The
scattering problem is considered for a weakly scattering medium located far
enough from the detector. The inverse problem is to reconstruct the
susceptibility of the medium given the measurements for different positions of
the mirror. Different approaches are addressed depending on the different
assumptions made about the optical properties of the sample. This procedure is
applied to a full field OCT system and an extension to standard (time and
frequency domain) OCT is briefly presented.Comment: 28 pages, 5 figures, book chapte
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