The Effect of Pose on the distribution of Edge Gradients in Omnidirectional Images

Images from omnidirectional cameras are used frequently in applications involving artificial intelligence and robotics as a source of rich information about the surroundings. A useful feature that can be extracted from these images is the distribution of gradients of the edges in the scene. This distribution is affected by the pose of the camera on-board a robot at any given location in the environment. This paper investigates the effect of the pose on this distribution. The gradients in the images are extracted and arranged into a histogram which is then compared to the histograms of other images using a chi-squared test. It is found that any differences in the distribution are not specific to either the position or orientation and that there is a significant difference in the distributions of two separate locations. This can aid in the localisation of robots when navigating

'Consciuos sedation' administration during local anesthesia [Lokal anestezi sirasinda 'bilincli sedasyon' uygulamasi]

In our study we aimed to compare the effects of intermittant bolus midazolam and propofol administration for conscious sedation. Following the Faculty Ethic Committee approval, 33 adult (ASA I-II) plastic and reconstructive surgery patients were randomized and divided in two groups: In group I (n=16) midazolam (O.05-0.1 mg/kg bolus) and in group II (n=17) propofol (0.5-1.0 mg/kg bolus) were administered intermittantly for providing 'conscious sedation' during local anaesthesia. Heart rates, systolic/diastolic arterial blood pressures, breath rate and oxygen saturations were noted just before and after sedation administration, after local anaesthetic infiltration, at the beginning and the end of operations and 15 minutes intervals during the intraoperative period. In the postoperative period; recovery and mobilisation times were noted. The physician observations about the operating conditions during the conscious sedation were scored by the Physician Questionnaire' and the patient comfort were evaluated by 'the Patient Questionnaire' tables. Recovery and mobilisation times were insignificantly shorter in propofol group (p> 0.05). 'Physician Questionnaire' score was 1.56±0.62 in the midazolam group and 3.47±1.37 in the propofol group (p0.05). In conclusion, we suggested that during local anaesthesia for 'conscious sedation'; both of the the intermittant bolus midazolam and propofol administrations are safe techniques regarding the nonsignificant hemodynamic and respiratory changes. However we do prefer midazolam administration with remarkable amnesic effect and much better physician and patient comfort