Autonomous navigation for guide following in crowded indoor environments

The requirements for assisted living are rapidly changing as the number of elderly patients over the age of 60 continues to increase. This rise places a high level of stress on nurse practitioners who must care for more patients than they are capable. As this trend is expected to continue, new technology will be required to help care for patients. Mobile robots present an opportunity to help alleviate the stress on nurse practitioners by monitoring and performing remedial tasks for elderly patients. In order to produce mobile robots with the ability to perform these tasks, however, many challenges must be overcome. The hospital environment requires a high level of safety to prevent patient injury. Any facility that uses mobile robots, therefore, must be able to ensure that no harm will come to patients whilst in a care environment. This requires the robot to build a high level of understanding about the environment and the people with close proximity to the robot. Hitherto, most mobile robots have used vision-based sensors or 2D laser range finders. 3D time-of-flight sensors have recently been introduced and provide dense 3D point clouds of the environment at real-time frame rates. This provides mobile robots with previously unavailable dense information in real-time. I investigate the use of time-of-flight cameras for mobile robot navigation in crowded environments in this thesis. A unified framework to allow the robot to follow a guide through an indoor environment safely and efficiently is presented. Each component of the framework is analyzed in detail, with real-world scenarios illustrating its practical use. Time-of-flight cameras are relatively new sensors and, therefore, have inherent problems that must be overcome to receive consistent and accurate data. I propose a novel and practical probabilistic framework to overcome many of the inherent problems in this thesis. The framework fuses multiple depth maps with color information forming a reliable and consistent view of the world. In order for the robot to interact with the environment, contextual information is required. To this end, I propose a region-growing segmentation algorithm to group points based on surface characteristics, surface normal and surface curvature. The segmentation process creates a distinct set of surfaces, however, only a limited amount of contextual information is available to allow for interaction. Therefore, a novel classifier is proposed using spherical harmonics to differentiate people from all other objects. The added ability to identify people allows the robot to find potential candidates to follow. However, for safe navigation, the robot must continuously track all visible objects to obtain positional and velocity information. A multi-object tracking system is investigated to track visible objects reliably using multiple cues, shape and color. The tracking system allows the robot to react to the dynamic nature of people by building an estimate of the motion flow. This flow provides the robot with the necessary information to determine where and at what speeds it is safe to drive. In addition, a novel search strategy is proposed to allow the robot to recover a guide who has left the field-of-view. To achieve this, a search map is constructed with areas of the environment ranked according to how likely they are to reveal the guide’s true location. Then, the robot can approach the most likely search area to recover the guide. Finally, all components presented are joined to follow a guide through an indoor environment. The results achieved demonstrate the efficacy of the proposed components

Graphite core brick crack detection through automated load trace analysis

This presentation looks at graphite core brick crack detection through automated load trace analysi

The gastric acid pocket is attenuated in H. pylori infected subjects

Objective Gastric acid secretory capacity in different anatomical regions, including the postprandial acid pocket, was assessed in Helicobacter pylori positive and negative volunteers in a Western population. Design We studied 31 H. pylori positive and 28 H. pylori negative volunteers, matched for age, gender and body mass index. Jumbo biopsies were taken at 11 predetermined locations from the gastro-oesophageal junction and stomach. Combined high-resolution pH metry (12 sensors) and manometry (36 sensors) was performed for 20 min fasted and 90 min postprandially. The squamocolumnar junction was marked with radio-opaque clips and visualised radiologically. Biopsies were scored for inflammation and density of parietal, chief and G cells immunohistochemically. Results Under fasting conditions, the H. pylori positives had less intragastric acidity compared with negatives at all sensors >1.1 cm distal to the peak lower oesophageal sphincter (LES) pressure (p<0.01). Postprandially, intragastric acidity was less in H. pylori positives at sensors 2.2, 3.3 and 4.4 cm distal to the peak LES pressure (p<0.05), but there were no significant differences in more distal sensors. The postprandial acid pocket was thus attenuated in H. pylori positives. The H. pylori positives had a lower density of parietal and chief cells compared with H. pylori negatives in 10 of the 11 gastric locations (p<0.05). 17/31 of the H. pylori positives were CagA-seropositive and showed a more marked reduction in intragastric acidity and increased mucosal inflammation. Conclusions In population volunteers, H. pylori positives have reduced intragastric acidity which most markedly affects the postprandial acid pocket

Predictors of excellent early outcome after total hip arthroplasty

<p>Abstract</p> <p>Background</p> <p>Not all patients gain the same degree of improvement from total hip replacement and the reasons for this are not clear. Many investigators have assessed predictors of general outcome after hip surgery. This study is unique in its quest for the predictors of the best possible early outcome.</p> <p>Methods</p> <p>We prospectively collected data on 1318 total hip replacements. Prior to surgery patient characteristics, demographics and co-morbidities were documented. Hip function and general health was assessed using the Harris Hip score (HHS) and the Short-Form 36 respectively. The HHS was repeated at three years. We took a maximal HHS of 100 to represent an excellent outcome (102 patients). Multiple logistic regression analysis was used to identify independent predictors of excellent outcome.</p> <p>Results</p> <p>The two strongest predictive factors in achieving an excellent result were young age and a high pre-operative HHS (p = 0.001).</p> <p>Conclusions</p> <p>It was the young and those less disabled from their arthritis that excelled at three years. When making a decision about the timing of hip arthroplasty surgery it is important to take into account the age and pre-operative function of the patient. Whether these patients continue to excel however will be the basis of future research.</p

The Soft-Excess in Mrk 509: Warm Corona or Relativistic Reflection?

We present the analysis of the first NuSTAR observations ($\sim 220$ ks), simultaneous with the last SUZAKU observations ($\sim 50$ ks), of the active galactic nucleus of the bright Seyfert 1 galaxy Mrk 509. The time-averaged spectrum in the $1-79$ keV X-ray band is dominated by a power-law continuum ($\Gamma\sim 1.8-1.9$), a strong soft excess around 1 keV, and signatures of X-ray reflection in the form of Fe K emission ($\sim 6.4$ keV), an Fe K absorption edge ($\sim 7.1$ keV), and a Compton hump due to electron scattering ($\sim 20-30$ keV). We show that these data can be described by two very different prescriptions for the soft excess: a warm ($kT\sim 0.5-1$ keV) and optically thick ($\tau\sim10-20$) Comptonizing corona, or a relativistically blurred ionized reflection spectrum from the inner regions of the accretion disk. While these two scenarios cannot be distinguished based on their fit statistics, we argue that the parameters required by the warm corona model are physically incompatible with the conditions of standard coronae. Detailed photoionization calculations show that even in the most favorable conditions, the warm corona should produce strong absorption in the observed spectrum. On the other hand, while the relativistic reflection model provides a satisfactory description of the data, it also requires extreme parameters, such as maximum black hole spin, a very low and compact hot corona, and a very high density for the inner accretion disk. Deeper observations of this source are thus necessary to confirm the presence of relativistic reflection, and to further understand the nature of its soft excess.Comment: Accepted for publication in ApJ, 18 pages, 7 figure

Efficacy and safety of elinzanetant, a selective neurokinin-1,3 receptor antagonist for vasomotor symptoms: a dose-finding clinical trial (SWITCH-1)

OBJECTIVE: Neurokinin (NK)-3 and NK-1 receptors have been implicated in the etiology of vasomotor symptoms (VMS) and sleep disturbances associated with menopause. This phase 2b, adaptive, dose-range finding study aimed to assess the efficacy and safety of multiple doses of elinzanetant (NT-814), a selective NK-1,3 receptor antagonist, in women experiencing VMS associated with menopause, and investigate the impact of elinzanetant on sleep and quality of life. METHODS: Postmenopausal women aged 40 to 65 years who experienced seven or more moderate-to-severe VMS per day were randomized to receive elinzanetant 40, 80, 120, or 160 mg or placebo once daily using an adaptive design algorithm. Coprimary endpoints were reduction in mean frequency and severity of moderate-to-severe VMS at weeks 4 and 12. Secondary endpoints included patient-reported assessments of sleep and quality of life. RESULTS: Elinzanetant 120 mg and 160 mg achieved reductions in VMS frequency versus placebo from week 1 throughout 12 weeks of treatment. Least square mean reductions were statistically significant versus placebo at both primary endpoint time points for elinzanetant 120 mg (week 4: -3.93 [SE, 1.02], P \u3c 0.001; week 12: -2.95 [1.15], P = 0.01) and at week 4 for elinzanetant 160 mg (-2.63 [1.03]; P = 0.01). Both doses also led to clinically meaningful improvements in measures of sleep and quality of life. All doses of elinzanetant were well tolerated. CONCLUSIONS: Elinzanetant is an effective and well-tolerated nonhormone treatment option for postmenopausal women with VMS and associated sleep disturbance. Elinzanetant also improves quality of life in women with VMS

Exposure-age constraints on the extent, timing and rate of retreat of the last Irish Sea ice stream

We report 23 cosmogenic isotope exposure ages (10Be and 36Cl) relating to the maximum extent and deglaciation chronology of the Irish Sea Ice Stream (ISIS), which drained the SW sector of the last British-Irish Ice Sheet. These show that the ISIS failed to reach the Preseli Hills of North Pembrokeshire yet extended southwards to impinge on northern Isles of Scilly (50°N) during the last glacial maximum. Four samples from western Anglesey demonstrate deglaciation of the southern Irish Sea Basin by c. 20-18 ka, and two from the Llŷn Peninsula in northwest Wales, if valid, suggest deglaciation by c. 23-22 ka followed by gradual oscillatory northwards retreat of the ice margin for over 3000 years. An alternative interpretation of our data suggests that ice reached Scilly as late as 22-21 ka then retreated 450 km northwards within the following three millennia, possibly in response to sea level rise and/or intrinsic reorganisation within the last British-Irish Ice Sheet. Samples from upland source areas of the ISIS in NW England and SW Scotland produced exposure ages ≤14.3 ka, suggesting possible persistence of ice in such areas into the Lateglacial Interstade of 14.7-12.9 ka