Tilted boxes on inclined planes

We propose the study of a box placed on an inclined plane, with an initial tilt with respect to the plane. This is a paradigmatic example of the role played by friction as a link between translational and rotational motion. This example has two advantages over the usual example of a sphere (or cylinder) rolling down an inclined plane. First, it provides a good model for a much greater variety of "real-life" situations. Second, it exhibits a much richer structure in parameter space, even when the box starts from rest. (C) 2000 American Association of Physics Teachers.

Elastically restrained Bernoulli-Euler beams applied to rotary machinery modelling

Facing the lateral vibration problem of a machine rotor as a beam on elastic supports in bending, the authors deal with the free vibration of elastically restrained Bernoulli-Euler beams carrying a finite number of concentrated elements along their length. Based on Rayleigh's quotient, an iterative strategy is developed to find the approximated torsional stiffness coefficients, which allows the reconciliation between the theoretical model results and the experimental ones, obtained through impact tests. The mentioned algorithm treats the vibration of continuous beams under a determined set of boundary and continuity conditions, including different torsional stiffness coefficients and the effect of attached concentrated masses and rotational inertias, not only in the energetic terms of the Rayleigh's quotient but also on the mode shapes, considering the shape functions defined in branches. Several loading cases are examined and examples are given to illustrate the validity of the model and accuracy of the obtained natural frequencies.

IGRT com CBCT: o impacto na precisão em radioterapia

Mestrado em Radiações Aplicadas às Tecnologias da Saúde.

Comparação dos efeitos secundários agudos da Radioterapia por intensidade modulada com a Radioterapia tridimensional conformada no carcinoma de próstata

Introdução: Este trabalho tem como principal objectivo comparar os efeitos secundários agudos da Radioterapia por Intensidade Modulada (IMRT) e a Radioterapia Tridimensional Conformada (3 D-CRT) no carcinoma de Próstata; Materiais e métodos: Foram observados os processos clínicos de 30 doentes e analisados os efeitos colaterais da RT ocorridos no decurso do tratamento. Resultados: A percentagem de toxicidade aguda dermatológica foi superior no grupo tratado com 3D-CRT. Nenhum doente apresentou toxicidade aguda grave. Conclusões: O tamanho reduzido da amostra e a ausência de valores estatisticamente significativos, não permite concluir a influência da técnica de RT no desenvolvimento de efeitos secundários agudos.

Comparação de diferentes técnicas de irradiação de mama em radioterapia com recurso a acelerador linear em modo de fotões

RESUMO: Introdução – A Radioterapia (RT) é uma abordagem terapêutica para tratamento de neoplasia de mama. Contudo, diferentes técnicas de irradiação (TI) podem ser usadas. Objetivos – Comparar 4 TI, considerando a irradiação dos volumes alvo (PTV) e dos órgãos de risco (OAR). Metodologia – Selecionaram-se 7 pacientes com indicação para RT de mama esquerda. Sobre tomografia computorizada foram feitos os contornos do PTV e dos OAR. Foram calculadas 4 planimetrias/paciente para as TI: conformacional externa (EBRT), intensidade modulada com 2 (IMRT2) e 5 campos (IMRT5) e arco dinâmico (DART). Resultados – Histogramas de dose volume foram comparados para todas as TI usando o software de análise estatística, IBM SPSS v20. Com IMRT5 e DART, os OAR recebem mais doses baixas. No entanto, IMRT5 apresenta melhores índices de conformidade e homogeneidade para o PTV. Conclusões – IMRT5 apresenta o melhor índice de conformidade; EBRT e IMRT2 apresentam melhores resultados que DART. Há d.e.s entre as TI, sobretudo em doses mais baixas nos OAR.

Modelling a Rotating Shaft as an Elastically Restrained Bernoulli-Euler Beam

Industrial rotating machines may be exposed to severe dynamic excitations due to resonant working regimes. Dealing with the bending vibration, problem of a machine rotor, the shaft - and attached discs - can be simply modelled using the Bernoulli-Euler beam theory, as a continuous beam subjected to a specific set of boundary conditions. In this study, the authors recall Rayleigh's method to propose an iterative strategy, which allows for the determination of natural frequencies and mode shapes of continuous beams taking into account the effect of attached concentrated masses and rotational inertias, including different stiffness coefficients at the right and the left end sides. The algorithm starts with the exact solutions from Bernoulli-Euler's beam theory, which are then updated through Rayleigh's quotient parameters. Several loading cases are examined in comparison with the experimental data and examples are presented to illustrate the validity of the model and the accuracy of the obtained values.

Assesing multileaf collimator effect on the build-up region using Monte Carlo method

Previous Monte Carlo studies have investigated the multileaf collimator (MLC) contribution to the build-up region for fields in which the MLC leaves were fully blocking the openings defined by the collimation jaws. In the present work, we investigate the same effect but for symmetric and asymmetric MLC defined field sizes (2×2, 4×4, 10×10 and 3×7 cm2). A Varian 2100C/D accelerator with 120-leaf MLC is accurately modeled fora6MVphoton beam using the BEAMnrc/EGSnrc code. Our results indicate that particles scattered from accelerator head and MLC are responsible for the increase of about 7% on the surface dose when comparing 2×2 and 10×10 cm2 fields. We found that the MLC contribution to the total build-up dose is about 2% for the 2×2 cm2 field and less than 1% for the largest fields.

Comparison of different breast planning techniques and algorithms for radiation therapy treatment

This work aims at investigating the impact of treating breast cancer using different radiation therapy (RT) techniques – forwardly-planned intensity-modulated, f-IMRT, inversely-planned IMRT and dynamic conformal arc (DCART) RT – and their effects on the whole-breast irradiation and in the undesirable irradiation of the surrounding healthy tissues. Two algorithms of iPlan BrainLAB treatment planning system were compared: Pencil Beam Convolution (PBC) and commercial Monte Carlo (iMC). Seven left-sided breast patients submitted to breast-conserving surgery were enrolled in the study. For each patient, four RT techniques – f-IMRT, IMRT using 2-fields and 5-fields (IMRT2 and IMRT5, respectively) and DCART – were applied. The dose distributions in the planned target volume (PTV) and the dose to the organs at risk (OAR) were compared analyzing dose–volume histograms; further statistical analysis was performed using IBM SPSS v20 software. For PBC, all techniques provided adequate coverage of the PTV. However, statistically significant dose differences were observed between the techniques, in the PTV, OAR and also in the pattern of dose distribution spreading into normal tissues. IMRT5 and DCART spread low doses into greater volumes of normal tissue, right breast, right lung and heart than tangential techniques. However, IMRT5 plans improved distributions for the PTV, exhibiting better conformity and homogeneity in target and reduced high dose percentages in ipsilateral OAR. DCART did not present advantages over any of the techniques investigated. Differences were also found comparing the calculation algorithms: PBC estimated higher doses for the PTV, ipsilateral lung and heart than the iMC algorithm predicted.

Validação do uso de cone-beam computed tomography de kilovoltagem de um LINAC para a realização de estudos dosimétricos

Mestrado em Radioterapia

Helical tomotherapy versus 3D conformal radiotherapy in dosimetric planning for patients with localized prostate cancer

Radiotherapy is one of the therapeutics selected for localized prostate cancer, in cases where the tumour is confined to the prostate, penetrates the prostatic capsule or has reached the seminal vesicles (T1 to T3 stages). The radiation therapy can be administered through various modalities, being historically used the 3D conformal radiotherapy (3DCRT). Other modality of radiation administration is the intensity modulated radiotherapy (IMRT), that allows an increase of the total dose through modulation of the treatment beams, enabling a reduction in toxicity. One way to administer IMRT is through helical tomotherapy (TH). With this study we intent to analyze the advantages of helical tomotherapy when compared with 3DCRT, by evaluating the doses in the organs at risk (OAR) and planning target volumes (PTV).

Radioterapia adaptativa: utilização do cone-beam computed tomography para o cálculo de dose em radioterapia

Mestrado em Radiações Aplicadas às Tecnologias da Saúde - Ramo de especialização: Terapia com Radiações

Sistema de Visão Stereo Ativo aplicado aos robôs do ISePorto

A presente dissertação endereça o desenvolvimento de um sistema de visão stereo ativo para os robôs de futebol robótico da equipa ISePorto do ISEP, de modo a que estes tirem o máximo partido das câmaras rotativas neles existentes. Este trabalho surge da necessidade de melhorar a capacidade de perceção do ambiente por parte dos robôs, principalmente da perceção da bola quando não está no plano do campo e dos robôs adversários. Esta necessidade surge devido ao aumento da dinâmica que se tem vindo a veri car ultimamente nas competições. Para tal, foram estudados algumas trabalhos relacionados no que diz respeito a sistemas de visão stereo com baselines variáveis e eixos de rotação em ambas as câmaras, bem como fundamentos de visão stereo. Foi proposta uma arquitetura para o sistema de visão ativo de modo a ser aplicado em qualquer robô da equipa MSL (Middle Size League). Para tornar possível a implementação desta arquitetura foi desenvolvido um procedimento para a calibração e determinação em tempo real dos parâmetros extrínsecos do par stereo em função da posição angular dos eixos rotativos do robô. O sistema de visão foi também dotado de capacidade de sincronismo e foram implementadas funcionalidades ao nível de software que possibilitam a deteção de objetos na imagem, a correspondência de objetos presentes nas imagens de ambas as câmaras e consequentemente a determinação das posições tridimensionais desses objetos relativamente ao robô. O sistema desenvolvido foi testado e validado em cenário MSL ao nível de perceção da bola, robôs adversários e linhas do campo. Os resultados obtidos apresentam uma melhoria signi cativa, face à implementação atual dos robôs, na perceção tridimensional da bola quando não está no plano do campo, e dos robôs adversários.

Planeamento dosimétrico de tumores de pulmão

Qual a técnica de irradiação a utilizar? RT convencional, 3DCRT, IMRT, SBRT. Esta selecção depende muito dos equipamentos disponíveis, mas idealmente deve ser sempre acompanhada de técnicas de IGRT.

A multi-objective approach for the motion planning of redundant manipulators

Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpredictable arm configurations. Such algorithms are not easy to adapt to optimization schemes and, moreover, often there are multiple optimization objectives that can conflict between them. Unlike single optimization, where one attempts to find the best solution, in multi-objective optimization there is no single solution that is optimum with respect to all indices. Therefore, trajectory planning of redundant robots remains an important area of research and more efficient optimization algorithms are needed. This paper presents a new technique to solve the inverse kinematics of redundant manipulators, using a multi-objective genetic algorithm. This scheme combines the closed-loop pseudo-inverse method with a multi-objective genetic algorithm to control the joint positions. Simulations for manipulators with three or four rotational joints, considering the optimization of two objectives in a workspace without and with obstacles are developed. The results reveal that it is possible to choose several solutions from the Pareto optimal front according to the importance of each individual objective.

Multi-criteria optimization manipulator trajectory planning

In the last twenty years genetic algorithms (GAs) were applied in a plethora of fields such as: control, system identification, robotics, planning and scheduling, image processing, and pattern and speech recognition (Bäck et al., 1997). In robotics the problems of trajectory planning, collision avoidance and manipulator structure design considering a single criteria has been solved using several techniques (Alander, 2003). Most engineering applications require the optimization of several criteria simultaneously. Often the problems are complex, include discrete and continuous variables and there is no prior knowledge about the search space. These kind of problems are very more complex, since they consider multiple design criteria simultaneously within the optimization procedure. This is known as a multi-criteria (or multiobjective) optimization, that has been addressed successfully through GAs (Deb, 2001). The overall aim of multi-criteria evolutionary algorithms is to achieve a set of non-dominated optimal solutions known as Pareto front. At the end of the optimization procedure, instead of a single optimal (or near optimal) solution, the decision maker can select a solution from the Pareto front. Some of the key issues in multi-criteria GAs are: i) the number of objectives, ii) to obtain a Pareto front as wide as possible and iii) to achieve a Pareto front uniformly spread. Indeed, multi-objective techniques using GAs have been increasing in relevance as a research area. In 1989, Goldberg suggested the use of a GA to solve multi-objective problems and since then other researchers have been developing new methods, such as the multi-objective genetic algorithm (MOGA) (Fonseca & Fleming, 1995), the non-dominated sorted genetic algorithm (NSGA) (Deb, 2001), and the niched Pareto genetic algorithm (NPGA) (Horn et al., 1994), among several other variants (Coello, 1998). In this work the trajectory planning problem considers: i) robots with 2 and 3 degrees of freedom (dof ), ii) the inclusion of obstacles in the workspace and iii) up to five criteria that are used to qualify the evolving trajectory, namely the: joint traveling distance, joint velocity, end effector / Cartesian distance, end effector / Cartesian velocity and energy involved. These criteria are used to minimize the joint and end effector traveled distance, trajectory ripple and energy required by the manipulator to reach at destination point. Bearing this ideas in mind, the paper addresses the planning of robot trajectories, meaning the development of an algorithm to find a continuous motion that takes the manipulator from a given starting configuration up to a desired end position without colliding with any obstacle in the workspace. The chapter is organized as follows. Section 2 describes the trajectory planning and several approaches proposed in the literature. Section 3 formulates the problem, namely the representation adopted to solve the trajectory planning and the objectives considered in the optimization. Section 4 studies the algorithm convergence. Section 5 studies a 2R manipulator (i.e., a robot with two rotational joints/links) when the optimization trajectory considers two and five objectives. Sections 6 and 7 show the results for the 3R redundant manipulator with five goals and for other complementary experiments are described, respectively. Finally, section 8 draws the main conclusions.