High-accuracy patient-to-image registration for the facilitation of image-guided robotic microsurgery on the head

Image-guided microsurgery requires accuracies an order of magnitude higher than today's navigation systems provide. A critical step toward the achievement of such low-error requirements is a highly accurate and verified patient-to-image registration. With the aim of reducing target registration error to a level that would facilitate the use of image-guided robotic microsurgery on the rigid anatomy of the head, we have developed a semiautomatic fiducial detection technique. Automatic force-controlled localization of fiducials on the patient is achieved through the implementation of a robotic-controlled tactile search within the head of a standard surgical screw. Precise detection of the corresponding fiducials in the image data is realized using an automated model-based matching algorithm on high-resolution, isometric cone beam CT images. Verification of the registration technique on phantoms demonstrated that through the elimination of user variability, clinically relevant target registration errors of approximately 0.1 mm could be achieved.

Theoretical considerations to the verification of dynamic multileaf collimated fields with a SLIC-type portal image detector

The verification possibilities of dynamically collimated treatment beams with a scanning liquid ionization chamber electronic portal image device (SLIC-EPID) are investigated. The ion concentration in the liquid of a SLIC-EPID and therefore the read-out signal is determined by two parameters of a differential equation describing the creation and recombination of the ions. Due to the form of this equation, the portal image detector describes a nonlinear dynamic system with memory. In this work, the parameters of the differential equation were experimentally determined for the particular chamber in use and for an incident open 6 MV photon beam. The mathematical description of the ion concentration was then used to predict portal images of intensity-modulated photon beams produced by a dynamic delivery technique, the sliding window approach. Due to the nature of the differential equation, a mathematical condition for 'reliable leaf motion verification' in the sliding window technique can be formulated. It is shown that the time constants for both formation and decay of the equilibrium concentration in the chamber is in the order of seconds. In order to guarantee reliable leaf motion verification, these time constants impose a constraint on the rapidity of the image-read out for a given maximum leaf speed. For a leaf speed of 2 cm s(-1), a minimum image acquisition frequency of about 2 Hz is required. Current SLIC-EPID systems are usually too slow since they need about a second to acquire a portal image. However, if the condition is fulfilled, the memory property of the system can be used to reconstruct the leaf motion. It is shown that a simple edge detecting algorithm can be employed to determine the leaf positions. The method is also very robust against image noise.

Precise pose recovery of distal locking holes from single calibrated fluoroscopic image via a novel variable decomposition approach

This paper presents a novel variable decomposition approach for pose recovery of the distal locking holes using single calibrated fluoroscopic image. The problem is formulated as a model-based optimal fitting process, where the control variables are decomposed into two sets: (a) the angle between the nail axis and its projection on the imaging plane, and (b) the translation and rotation of the geometrical model of the distal locking hole around the nail axis. By using an iterative algorithm to find the optimal values of the latter set of variables for any given value of the former variable, we reduce the multiple-dimensional model-based optimal fitting problem to a one-dimensional search along a finite interval. We report the results of our in vitro experiments, which demonstrate that the accuracy of our approach is adequate for successful distal locking of intramedullary nails.

ANIMATED TRANSITION IN SIMILARITY-BASED TILED IMAGE LAYOUT

Effective techniques for organizing and visualizing large image collections are in growing demand as visual search gets increasingly popular. iMap is a treemap representation for visualizing and navigating image search and clustering results based on the evaluation of image similarity using both visual and textual information. iMap not only makes effective use of available display area to arrange images but also maintains stable update when images are inserted or removed during the query. A key challenge of using iMap lies in the difficult to follow and track the changes when updating the image arrangement as the query image changes. For many information visualization applications, showing the transition when interacting with the data is critically important as it can help users better perceive the changes and understand the underlying data. This work investigates the effectiveness of animated transition in a tiled image layout where the spiral arrangement of the images is based on their similarity. Three aspects of animated transition are considered, including animation steps, animation actions, and flying paths. Exploring and weighting the advantages and disadvantages of different methods for each aspect and in conjunction with the characteristics of the spiral image layout, we present an integrated solution, called AniMap, for animating the transition from an old layout to a new layout when a different image is selected as the query image. To smooth the animation and reduce the overlap among images during the transition, we explore different factors that might have an impact on the animation and propose our solution accordingly. We show the effectiveness of our animated transition solution by demonstrating experimental results and conducting a comparative user study.

The HARPS search for southern extra-solar planets

The vast diversity of planetary systems detected to date is defying our capability of understanding their formation and evolution. Well-defined volume-limited surveys are the best tool at our disposal to tackle the problem, via the acquisition of robust statistics of the orbital elements. We are using the HARPS spectrograph to conduct our survey of ≈850 nearby solar-type stars, and in the course of the past nine years we have monitored the radial velocity of HD 103774, HD 109271, and BD-061339. In this work we present the detection of five planets orbiting these stars, with msin   (i) between 0.6 and 7 Neptune masses, four of which are in two multiple systems, comprising one super-Earth and one planet within the habitable zone of a late-type dwarf. Although for strategic reasons we chose efficiency over precision in this survey, we have the capability to detect planets down to the Neptune and super-Earth mass range as well as multiple systems, provided that enough data points are made available.

Molecular nitrogen in comet 67P/Churyumov-Gerasimenko indicates a low formation temperature

Molecular nitrogen (N2) is thought to have been the most abundant form of nitrogen in the protosolar nebula. It is the main N-bearing molecule in the atmospheres of Pluto and Triton and probably the main nitrogen reservoir from which the giant planets formed. Yet in comets, often considered the most primitive bodies in the solar system, N2 has not been detected. Here we report the direct in situ measurement of N2 in the Jupiter family comet 67P/Churyumov-Gerasimenko, made by the Rosetta Orbiter Spectrometer for Ion and Neutral Analysis mass spectrometer aboard the Rosetta spacecraft. A N2/CO ratio of Embedded Image (2σ standard deviation of the sampled mean) corresponds to depletion by a factor of ~25.4 ± 8.9 as compared to the protosolar value. This depletion suggests that cometary grains formed at low-temperature conditions below ~30 kelvin.

Search for satellites near comet 67P/Churyumov-Gerasimenko using Rosetta/OSIRIS images

Context. The European Space Agency Rosetta mission reached and started escorting its main target, the Jupiter-family comet 67P/Churyumov-Gerasimenko, at the beginning of August 2014. Within the context of solar system small bodies, satellite searches from approaching spacecraft were extensively used in the past to study the nature of the visited bodies and their collisional environment. Aims. During the approaching phase to the comet in July 2014, the OSIRIS instrument onboard Rosetta performed a campaign aimed at detecting objects in the vicinity of the comet nucleus and at measuring these objects' possible bound orbits. In addition to the scientific purpose, the search also focused on spacecraft security to avoid hazardous material in the comet's environment. Methods. Images in the red spectral domain were acquired with the OSIRIS Narrow Angle Camera, when the spacecraft was at a distance between 5785 km and 5463 km to the comet, following an observational strategy tailored to maximize the scientific outcome. From the acquired images, sources were extracted and displayed to search for plausible displacements of all sources from image to image. After stars were identified, the remaining sources were thoroughly analyzed. To place constraints on the expected displacements of a potential satellite, we performed Monte Carlo simulations on the apparent motion of potential satellites within the Hill sphere. Results. We found no unambiguous detections of objects larger than similar to 6 m within similar to 20 km and larger than similar to 1 m between similar to 20 km and similar to 110 km from the nucleus, using images with an exposure time of 0.14 s and 1.36 s, respectively. Our conclusions are consistent with independent works on dust grains in the comet coma and on boulders counting on the nucleus surface. Moreover, our analysis shows that the comet outburst detected at the end of April 2014 was not strong enough to eject large objects and to place them into a stable orbit around the nucleus. Our findings underline that it is highly unlikely that large objects survive for a long time around cometary nuclei.

Image analysis from TEM and AFM micrograph, Table S1, S2, S3, Figure S1, Figure S2

We report on metal enrichment along a natural pH gradient owing to increased CO2 degassing at cold, shal- low seeps of Vulcano Island in the Mediterranean Sea, off Sicily. We assessed composition of unfiltered and filtered seawater (b100 nm) along acidic zones ranging between ambient and pH 5, and showed that most seep derived elements are present as nanoclusters which then aggregate into larger colloids while mixing with ambient seawater along a pH gradient. Size and elemental composition of such naturally occurring nanoparticles assessed by modern characterisation methods were in good agreement with the results from conventional analytical methods. We provide analytical evidence for the presence in the water column of a large fraction of seep derived ele- ments (e.g. approximately 50% of iron, over 80% of Mn, 100% of Cr, S and Zn) in the form of nano sized par- ticles (e.g. b100 nm) even at typical open ocean pHs. We launch in situ sampling protocols and sample preparation procedures for multi-method suitable to obtain accurate measurements on nanoparticles from environmental samples. Based on our results a first insight to the formation of natural nanoparticles at cold CO2 seeps is presented and the persistence of such nano-clusters in the surrounding seawater is stipulated.

Description of manganese nodules collected in a metamorphic limestone Cambrian formation near Philipsburg, Montana

In the Philipsburg district, in western Montana a low arch of a Paleozoic limestones has been cut and deformed on the east and a south sides by a small batholith of Tertiary granodiorite. The manganese deposits are confined to an area of about 2 square miles underlain by sedimentary rocks and adjacent to the granodiorite body. The ore, chiefly pyrolusite, was apparently derived from rhodochrosite that was abundant in the veins and had replaced the adjacent limestones. The oxide ore is found chiefly within 600 feet of the surface, though one small body was mined at a depth of 700 feet. Commonly these bodies are aggregates of nodules or spheroids that range in size from that of an egg to that of a coconut or larger. In some places they show an irregular texture somewhat like that of a sponge, and in others the material composing them is loose and friable and apparently structureless. Psilomelane is the principal constituent of many of the nodules, in which it forms layers that alternate with softer oxides.

Bio-inspired FPGA Architecture for Self-Calibration of an Image Compression Core based on Wavelet Transforms in Embedded Systems

A generic bio-inspired adaptive architecture for image compression suitable to be implemented in embedded systems is presented. The architecture allows the system to be tuned during its calibration phase. An evolutionary algorithm is responsible of making the system evolve towards the required performance. A prototype has been implemented in a Xilinx Virtex-5 FPGA featuring an adaptive wavelet transform core directed at improving image compression for specific types of images. An Evolution Strategy has been chosen as the search algorithm and its typical genetic operators adapted to allow for a hardware friendly implementation. HW/SW partitioning issues are also considered after a high level description of the algorithm is profiled which validates the proposed resource allocation in the device fabric. To check the robustness of the system and its adaptation capabilities, different types of images have been selected as validation patterns. A direct application of such a system is its deployment in an unknown environment during design time, letting the calibration phase adjust the system parameters so that it performs efcient image compression. Also, this prototype implementation may serve as an accelerator for the automatic design of evolved transform coefficients which are later on synthesized and implemented in a non-adaptive system in the final implementation device, whether it is a HW or SW based computing device. The architecture has been built in a modular way so that it can be easily extended to adapt other types of image processing cores. Details on this pluggable component point of view are also given in the paper.

A scalable approach for content based image retrieval in cloud datacenter

The emergence of cloud datacenters enhances the capability of online data storage. Since massive data is stored in datacenters, it is necessary to effectively locate and access interest data in such a distributed system. However, traditional search techniques only allow users to search images over exact-match keywords through a centralized index. These techniques cannot satisfy the requirements of content based image retrieval (CBIR). In this paper, we propose a scalable image retrieval framework which can efficiently support content similarity search and semantic search in the distributed environment. Its key idea is to integrate image feature vectors into distributed hash tables (DHTs) by exploiting the property of locality sensitive hashing (LSH). Thus, images with similar content are most likely gathered into the same node without the knowledge of any global information. For searching semantically close images, the relevance feedback is adopted in our system to overcome the gap between low-level features and high-level features. We show that our approach yields high recall rate with good load balance and only requires a few number of hops.

Fast 2D to 3D conversion using a clustering-based hierarchical search in a machine learning framework

Automatic 2D-to-3D conversion is an important application for filling the gap between the increasing number of 3D displays and the still scant 3D content. However, existing approaches have an excessive computational cost that complicates its practical application. In this paper, a fast automatic 2D-to-3D conversion technique is proposed, which uses a machine learning framework to infer the 3D structure of a query color image from a training database with color and depth images. Assuming that photometrically similar images have analogous 3D structures, a depth map is estimated by searching the most similar color images in the database, and fusing the corresponding depth maps. Large databases are desirable to achieve better results, but the computational cost also increases. A clustering-based hierarchical search using compact SURF descriptors to characterize images is proposed to drastically reduce search times. A significant computational time improvement has been obtained regarding other state-of-the-art approaches, maintaining the quality results.

Robust Image Registration with Global Intensity Transformation

This paper presents a registration method for images with global illumination variations. The method is based on a joint iterative optimization (geometric and photometric) of the L1 norm of the intensity error. Two strategies are compared to directly find the appropriate intensity transformation within each iteration: histogram specification and the solution obtained by analyzing the necessary optimality conditions. Such strategies reduce the search space of the joint optimization to that of the geometric transformation between the images.

Rompendo velhas mortalhas: a violência contra a mulher e sua relação com o Imaginário Androcêntrico de Deus na Igreja Metodista do Chile.

A presente tese tem como objetivo abordar e analisar a violência contra a mulher e a relação que existiria entre essa conduta e a imagem androcêntrica de "Deus", em um contexto específico: homens e mulheres da Igreja Metodista no Chile. Fizemos uma leitura analítica da maneira de se relacionar as mulheres e os homens nos matrimônios, e as mulheres e os homens com "Deus". O intuito é explorar as similitudes que existem entre a atitude hierárquica do homem na sociedade e na família e o modelo de "Deus" masculino presente no imaginário coletivo da sociedade. A questão foi desenvolvida tendo como eixo principal a imagem indrocêntrica de "Deus" e as variáveis que desde essa imagem se desprendem, a saber, a construção e a ideologia androcêntrica, a sobrevalorização da hegemonia e a linguagem masculina e a legitimação da violência contra mulher. Esta situação é analisada desde um contexto específico a Igreja Metodista no Chile, mas este fato é apenas o contexto de onde começamos a observar os casos de violência contra a mulher, o que permitiu sair desse contexto restringido, para um contexto mais abrangente. Por conseguinte, na procura de fundamentos para elucidar as hipóteses, levantamos alguns elementos antropológicos herdados das ideologias e crenças dos espanhóis e dos indígenas, os quais foram fundamentais na construção do ethos e da idiossincrasia chilena. Para a análise e a crítica do imaginário masculino de Deus, privilegiamos a produção da teologia feminista e, para o conceito de violência que contem a noção de poder, privilegiamos a concepção de micro-poder, estimando que a violência contra da mulher se concretiza, primordialmente, em nível de micro estruturas, ainda que o fato esteja legitimado em nível de macro estruturas. O objetivo desta tese é contribuir na reflexão teológico-pastoral desde a perspectiva da mulher, visando fornecer elementos de debate no caminho à superação da violência.(AU)

Rompendo velhas mortalhas: a violência contra a mulher e sua relação com o Imaginário Androcêntrico de Deus na Igreja Metodista do Chile.

A presente tese tem como objetivo abordar e analisar a violência contra a mulher e a relação que existiria entre essa conduta e a imagem androcêntrica de "Deus", em um contexto específico: homens e mulheres da Igreja Metodista no Chile. Fizemos uma leitura analítica da maneira de se relacionar as mulheres e os homens nos matrimônios, e as mulheres e os homens com "Deus". O intuito é explorar as similitudes que existem entre a atitude hierárquica do homem na sociedade e na família e o modelo de "Deus" masculino presente no imaginário coletivo da sociedade. A questão foi desenvolvida tendo como eixo principal a imagem indrocêntrica de "Deus" e as variáveis que desde essa imagem se desprendem, a saber, a construção e a ideologia androcêntrica, a sobrevalorização da hegemonia e a linguagem masculina e a legitimação da violência contra mulher. Esta situação é analisada desde um contexto específico a Igreja Metodista no Chile, mas este fato é apenas o contexto de onde começamos a observar os casos de violência contra a mulher, o que permitiu sair desse contexto restringido, para um contexto mais abrangente. Por conseguinte, na procura de fundamentos para elucidar as hipóteses, levantamos alguns elementos antropológicos herdados das ideologias e crenças dos espanhóis e dos indígenas, os quais foram fundamentais na construção do ethos e da idiossincrasia chilena. Para a análise e a crítica do imaginário masculino de Deus, privilegiamos a produção da teologia feminista e, para o conceito de violência que contem a noção de poder, privilegiamos a concepção de micro-poder, estimando que a violência contra da mulher se concretiza, primordialmente, em nível de micro estruturas, ainda que o fato esteja legitimado em nível de macro estruturas. O objetivo desta tese é contribuir na reflexão teológico-pastoral desde a perspectiva da mulher, visando fornecer elementos de debate no caminho à superação da violência.(AU)