Real-time 3D Tracking of Articulated Tools for Robotic Surgery

In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in real-time tracking of articulated tools. Most algorithms are tailored for offline processing with pre-recorded videos. In this paper, we propose a real-time 3D tracking method for articulated tools in robotic surgery. The proposed method is based on the CAD model of the tools as well as robot kinematics to generate online part-based templates for efficient 2D matching and 3D pose estimation. A robust verification approach is incorporated to reject outliers in 2D detections, which is then followed by fusing inliers with robot kinematic readings for 3D pose estimation of the tool. The proposed method has been validated with phantom data, as well as ex vivo and in vivo experiments. The results derived clearly demonstrate the performance advantage of the proposed method when compared to the state-of-the-art.Comment: This paper was presented in MICCAI 2016 conference, and a DOI was linked to the publisher's versio

Deuteron Momentum Distribution in KD2HPO4

The momentum distribution in KD2PO4(DKDP) has been measured using neutron Compton scattering above and below the weakly first order paraelectric-ferroelectric phase transition(T=229K). There is very litte difference between the two distributions, and no sign of the coherence over two locations for the proton observed in the paraelectric phase, as in KH2PO4(KDP). We conclude that the tunnel splitting must be much less than 20mev. The width of the distribution indicates that the effective potential for DKDP is significantly softer than that for KDP. As electronic structure calculations indicate that the stiffness of the potential increases with the size of the coherent region locally undergoing soft mode fluctuations, we conclude that there is a mass dependent quantum coherence length in both systems.Comment: 6 pages 5 figure

Dewetting of thin polymer films near the glass transition

Dewetting of ultra-thin polymer films near the glass transition exhibits unexpected front morphologies [G. Reiter, Phys. Rev. Lett., 87, 186101 (2001)]. We present here the first theoretical attempt to understand these features, focusing on the shear-thinning behaviour of these films. We analyse the profile of the dewetting film, and characterize the time evolution of the dry region radius, $R_{d}(t)$, and of the rim height, $h_{m}(t)$. After a transient time depending on the initial thickness, $h_{m}(t)$ grows like $\sqrt{t}$ while $R_{d}(t)$ increases like $\exp{(\sqrt{t})}$. Different regimes of growth are expected, depending on the initial film thickness and experimental time range.Comment: 4 pages, 5 figures Revised version, published in Physical Review Letters: F. Saulnier, E. Raphael and P.-G. de Gennes, Phys. Rev. Lett. 88, 196101 (2002

Shape of a liquid front upon dewetting

We examine the profile of a liquid front of a film that is dewetting a solid substrate. Since volume is conserved, the material that once covered the substrate is accumulated in a rim close to the three phase contact line. Theoretically, such a profile of a Newtonian liquid resembles an exponentially decaying harmonic oscillation that relaxes into the prepared film thickness. For the first time, we were able to observe this behavior experimentally. A non-Newtonian liquid - a polymer melt - however, behaves differently. Here, viscoelastic properties come into play. We will demonstrate that by analyzing the shape of the rim profile. On a nm scale, we gain access to the rheology of a non-Newtonian liquid.Comment: 4 pages, 4 figure

Next-to-leading order multi-leg processes for the Large Hadron Collider

In this talk we discuss recent progress concerning precise predictions for the LHC. We give a status report of three applications of our method to deal with multi-leg one-loop amplitudes: The interference term of Higgs production by gluon- and weak boson fusion to order O(alpha^2 alpha_s^3) and the next-to-leading order corrections to the two processes pp -> ZZ jet and u ubar -> d dbar s sbar. The latter is a subprocess of the four jet cross section at the LHC.Comment: 6 pages, 5 figures. Talk given at the 8th international Symposium on Radiative Corrections (RADCOR), October 1-5 2007, Florence, Ital

On the variability of hemispheric scale energy parameters

Includes bibliographical references.January 1975.USAEC Report No. C00-1340-41.Hemispheric scale energy parameters have been computed and their variability on an annual time scale and a scale of a few weeks is identified and discussed. Based on data for 15 winter seasons, the annual variability of available potential energy is linked to fluctuations of elements of the general circulation, such as the jet streams. This link establishes a relationship between simply computed hemispheric scale parameters and regional weather conditions affecting man's economic wellbeing. Daily statistics on three winter seasons of hemispheric energy modes have been analyzed with the ultimate goal of understanding and reproducing the behavior of the hemispheric energy cycle. Two phenomena are discussed: (1) A strong 22-26 day cycle in the energy modes which may be linked to synoptic scale systems and the atmospheric index cycle; and (2) A large midwinter "dip" in zonal available potential energy which is tentatively linked to a possible movement of the Hadley cell. This "dip" is shown to have a profound effect on the meridional temperature gradient, particularly in midlatitudes.Support for the analysis work performed from NSF Grant GA - 42215. Investigation of hemispheric circulation features supported by USAEC under Contract AT(11-1) - 1340. A number of the calculations described were accomplished at the NCAR Computing Facility funded by the National Science Foundation

Wave function mapping in graphene quantum dots with soft confinement

Using low-temperature scanning tunneling spectroscopy, we map the local density of states (LDOS) of graphene quantum dots supported on Ir(111). Due to a band gap in the projected Ir band structure around the graphene K point, the electronic properties of the QDs are dominantly graphene-like. Indeed, we compare the results favorably with tight binding calculations on the honeycomb lattice based on parameters derived from density functional theory. We find that the interaction with the substrate near the edge of the island gradually opens a gap in the Dirac cone, which implies soft-wall confinement. Interestingly, this confinement results in highly symmetric wave functions. Further influences of the substrate are given by the known moir{\'e} potential and a 10% penetration of an Ir surface resonanceComment: 7 pages, 11 figures, DFT calculations directly showing the origin of soft confinment, correct identification of the state penetrating from Ir(111) into graphen

Resveratrol is a promising agent for colorectal cancer prevention and treatment: Focus on molecular mechanisms

Colorectal cancer (CRC) is the third most common cancer and one of the main causes of cancer death entire the world. Environmental, dietary, and lifestyle factors including red meat consumption, cigarette smoking, alcohol intake and family history are the most important risk factors of CRC. Multiple pathways including inflammation, oxidative stress, and apoptosis are involved in its incidence and progression. Resveratrol, a polyphenolic compound, has different pharmacologic functions including anti-inflammation, cancer prevention, lipid-lowering effect, and hypoglycemic effect. Many studies have proved that resveratrol might also represent a chemo preventive effect on CRC. Thus, the aim of the current review is to depict the role of resveratrol in treatment of CRC in a molecular manner. © 2019 The Author(s)

Slip vs viscoelasticity in dewetting thin films

Ultrathin polymer films on non-wettable substrates display dynamic features which have been attributed to either viscoelastic or slip effects. Here we show that in the weak and strong slip regime effects of viscoelastic relaxation are either absent or not distinguishable from slip effects. Strong-slip modifies the fastest unstable mode in a rupturing thin film, which questions the standard approach to reconstruct the effective interface potential from dewetting experiments.Comment: 4 pages, submitted to Eur. Phys. J.