Evaluation of the Oculus Rift S tracking system in room scale virtual reality

In specific virtual reality applications that require high accuracy it may be advisable to replace the built-in tracking system of the HMD with a third party solution. The purpose of this research work is to evaluate the accuracy of the built-in tracking system of the Oculus Rift S Head Mounted Display (HMD) in room scale environments against a motion capture system. In particular, an experimental evaluation of the Oculus Rift S inside-out tracking technology was carried out, compared to the performance of an outside-in tracking method based on the OptiTrack motion capture system. In order to track the pose of the HMD using the motion capture system the Oculus Rift S was instrumented with passive retro-reflective markers and calibrated. Experiments have been performed on a dataset of multiple paths including simple motions as well as more complex paths. Each recorded path contained simultaneous changes in both position and orientation of the HMD. Our results indicate that in room-scale environments the average translation error for the Oculus Rift S tracking system is about 1.83 cm, and the average rotation error is about 0. 77°, which is 2 orders of magnitude higher than the performance that can be achieved using a motion capture system

Development of a decision analytic model to support decision making and risk communication about thrombolytic treatment

Background Individualised prediction of outcomes can support clinical and shared decision making. This paper describes the building of such a model to predict outcomes with and without intravenous thrombolysis treatment following ischaemic stroke. Methods A decision analytic model (DAM) was constructed to establish the likely balance of benefits and risks of treating acute ischaemic stroke with thrombolysis. Probability of independence, (modified Rankin score mRS ≤ 2), dependence (mRS 3 to 5) and death at three months post-stroke was based on a calibrated version of the Stroke-Thrombolytic Predictive Instrument using data from routinely treated stroke patients in the Safe Implementation of Treatments in Stroke (SITS-UK) registry. Predictions in untreated patients were validated using data from the Virtual International Stroke Trials Archive (VISTA). The probability of symptomatic intracerebral haemorrhage in treated patients was incorporated using a scoring model from Safe Implementation of Thrombolysis in Stroke-Monitoring Study (SITS-MOST) data. Results The model predicts probabilities of haemorrhage, death, independence and dependence at 3-months, with and without thrombolysis, as a function of 13 patient characteristics. Calibration (and inclusion of additional predictors) of the Stroke-Thrombolytic Predictive Instrument (S-TPI) addressed issues of under and over prediction. Validation with VISTA data confirmed that assumptions about treatment effect were just. The C-statistics for independence and death in treated patients in the DAM were 0.793 and 0.771 respectively, and 0.776 for independence in untreated patients from VISTA. Conclusions We have produced a DAM that provides an estimation of the likely benefits and risks of thrombolysis for individual patients, which has subsequently been embedded in a computerised decision aid to support better decision-making and informed consent

Coupled Electronic and Nuclear Motions during Azobenzene Photoisomerization Monitored by Ultrafast Electron Diffraction

Ultrafast electron diffraction is a powerful technique that can resolve molecular structures with femtosecond and angstrom resolutions. We demonstrate theoretically how it can be used to monitor conical intersection dynamics in molecules. Specific contributions to the signal are identified which vanish in the absence of vibronic coherence and offer a direct window into conical intersection paths. A special focus is on hybrid scattering from nuclei and electrons, a process that is unique to electron (rather than X-ray) diffraction and monitors the strongly coupled nuclear and electronic motions in the vicinity of conical intersections. An application is made to the cis to trans isomerization of azobenzene, computed with exact quantum dynamics wavepacket propagation in a reactive two-dimensional nuclear space

Nuclear Environments Inspection with Micro Aerial Vehicles: Algorithms and Experiments

In this work, we address the estimation, planning, control and mapping problems to allow a small quadrotor to autonomously inspect the interior of hazardous damaged nuclear sites. These algorithms run onboard on a computationally limited CPU. We investigate the effect of varying illumination on the system performance. To the best of our knowledge, this is the first fully autonomous system of this size and scale applied to inspect the interior of a full scale mock-up of a Primary Containment Vessel (PCV). The proposed solution opens up new ways to inspect nuclear reactors and to support nuclear decommissioning, which is well known to be a dangerous, long and tedious process. Experimental results with varying illumination conditions show the ability to navigate a full scale mock-up PCV pedestal and create a map of the environment, while concurrently avoiding obstacles.Comment: 10 pages, ISER 201

Light chain deposition disease presenting as paroxysmal atrial fibrillation: a case report

<p>Abstract</p> <p>Introduction</p> <p>Light chain deposition disease (LCDD) can involve the heart and cause severe heart failure. Cardiac involvement is usually described in the advanced stages of the disease. We report the case of a woman in whom restrictive cardiomyopathy due to LCDD presented with paroxysmal atrial fibrillation.</p> <p>Case presentation</p> <p>A 55-year-old woman was admitted to our emergency department because of palpitations. In a recent blood test, serum creatinine was 1.4 mg/dl. She was found to have high blood pressure, left ventricular hypertrophy and paroxysmal atrial fibrillation. An ACE-inhibitor was prescribed but her renal function rapidly worsened and she was admitted to our nephrology unit. On admission serum creatinine was 9.4 mg/dl, potassium 6.8 mmol/l, haemoglobin 7.7 g/dl, N-terminal pro-brain natriuretic peptide 29894 pg/ml. A central venous catheter was inserted and haemodialysis was started. She underwent a renal biopsy which showed kappa LCDD. Bone marrow aspiration and bone biopsy demonstrated kappa light chain multiple myeloma. Echocardiographic findings were consistent with restrictive cardiomyopathy. Thalidomide and dexamethasone were prescribed, and a peritoneal catheter was inserted. Peritoneal dialysis has now been performed for 15 months without complications.</p> <p>Discussion</p> <p>Despite the predominant tubular deposition of kappa light chain, in our patient the first clinical manifestation of LCDD was cardiac disease manifesting as atrial fibrillation and the correct diagnosis was delayed. The clinical management initially addressed the cardiovascular symptoms without paying sufficient attention to the pre-existing slight increase in our patient's serum creatinine. However cardiac involvement is a quite uncommon presentation of LCDD, and this unusual case suggests that the onset of acute arrhythmias associated with restrictive cardiomyopathy and impaired renal function might be related to LCDD.</p

Embodied Gesture Processing: Motor-Based Integration of Perception and Action in Social Artificial Agents

A close coupling of perception and action processes is assumed to play an important role in basic capabilities of social interaction, such as guiding attention and observation of others’ behavior, coordinating the form and functions of behavior, or grounding the understanding of others’ behavior in one’s own experiences. In the attempt to endow artificial embodied agents with similar abilities, we present a probabilistic model for the integration of perception and generation of hand-arm gestures via a hierarchy of shared motor representations, allowing for combined bottom-up and top-down processing. Results from human-agent interactions are reported demonstrating the model’s performance in learning, observation, imitation, and generation of gestures

Haptic Teleoperation of UAV Equipped with Gamma-Ray Spectrometer for Detection and Identification of Radio-Active Materials in Industrial Plants

Large scale factories such as steel, wood, construction, recycling plants and landfills involve the procurement of raw material which may include radiating parts, that must be monitored, because potentially dangerous for workers. Manufacturing operations are carried out in unstructured environments, where fully autonomous unmanned aerial vehicle (UAV) inspection is hardly applicable. In this work we report on the development of a haptic teleoperated UAV for localization of radiation sources in industrial plants. Radiation sources can be localized and identified thanks to a novel CZT-based custom gamma-ray detector integrated on the UAV, providing light, compact, spectroscopic, and low power operation. UAV operation with a human in the loop allows an expert operator to focus on selected candidate areas, thereby optimizing short flight mission in face of the constrained acquisition times required by nuclear inspection. To cope with the reduced situational awareness of the remote operator, force feedback is exploited as an additional sensory channel. The developed prototype has been demonstrated both in relevant and operational environments

Regional prediction of landslide hazard using probability analysis of intense rainfall in the Hoa Binh province, Vietnam.

The main objective of this study is to assess regional landslide hazards in the Hoa Binh province of Vietnam. A landslide inventory map was constructed from various sources with data mainly for a period of 21 years from 1990 to 2010. The historic inventory of these failures shows that rainfall is the main triggering factor in this region. The probability of the occurrence of episodes of rainfall and the rainfall threshold were deduced from records of rainfall for the aforementioned period. The rainfall threshold model was generated based on daily and cumulative values of antecedent rainfall of the landslide events. The result shows that 15-day antecedent rainfall gives the best fit for the existing landslides in the inventory. The rainfall threshold model was validated using the rainfall and landslide events that occurred in 2010 that were not considered in building the threshold model. The result was used for estimating temporal probability of a landslide to occur using a Poisson probability model. Prior to this work, five landslide susceptibility maps were constructed for the study area using support vector machines, logistic regression, evidential belief functions, Bayesian-regularized neural networks, and neuro-fuzzy models. These susceptibility maps provide information on the spatial prediction probability of landslide occurrence in the area. Finally, landslide hazard maps were generated by integrating the spatial and the temporal probability of landslide. A total of 15 specific landslide hazard maps were generated considering three time periods of 1, 3, and 5 years