Easy preoperative planning of deeply located brain lesions using external skin reference and 3-Dimensional surface MRI

Open skull surgery of deeply located intracerebral lesions requires precise determination of the treatment area in 3-dimensional (3-D) space. 3-D MRI can give important additional information in presurgical determination of the surgical approach to the target, taking into account highly functional brain areas and important vascular structures. The day before surgery, a grid composed of 9 tubings intersecting at 90° at 1 cm intervals and filled with a Q1SO4 solution is firmly attached to the skin of the patient’s head in the presumed region of the craniotomy. A 3-D turbo-FLASH sequence is then performed in the sagittal plane after intravenous Gd-DOTA injection on a IT Magnetom. 3-D surface reconstruction of the cortical gyri and sulci is performed. Once the gyri are identified, the 3-D program is then implemented in order to perform a color display of the cortical veins and of the tumor boundaries. The surgical access is then chosen by the surgeon, taking into account highly functional areas. Finally, the boundaries of the tumor are projected on the cortex reconstruction and on the external reference placed on the skin. The entry place for surgery as well as the size of craniotomy are drawn on the skin and the tubed grid is removed. The accuracy of this method tested in 9 patients with deeply located brain tumors or arteriovenous malformations was very satisfactory. In daily practice, this method is a valuable technique providing important clinical information in determining the shortest and safest way through the brain tissue, decreasing possible functional deficit and reducing craniotomy size in cases of difficult to access deep brain areas. Our method does not require a stereotactic frame permanently fixed to the head of the patient during surgery. © 1994 S. Karger AG, Basel.

Planning across differences: collaborative planning processes for the California Central Valley's future

This dissertation examines the intersections between difference, participation, and planning processes. Rooted in scholarly conversations about deliberative democracy, collaborative planning, and nonprofit organizations in civil society, this research considers how planning practitioners can better plan across difference. Through case study research, this dissertation examines a collaborative planning process conducted by a nonprofit organization. Unlike more conventional participatory planning processes, the organization utilized scenario planning. Exercising their position in civil society, participation in the process was not open to all community members and the organization carefully selected a diverse set of participants. Findings from this research project indicate that this process, by moving away from a strict definition of rational discourse, focusing on multiple futures as opposed to a single, utopian future, and deliberately bringing together a broad cross-section of community members allowed for participants to speak freely and learn from one another’s perspectives and experiences. Experiences of process participants also demonstrate the degree to which cultural backgrounds shape participation in and expectations of planning processes. While there remains no clear answer in how to represent and respond to cultural differences in planning processes, the experiences of the organization, program staff, and community participants help scholars and practitioners move closer to planning across differences.

The Use of Proof Planning Critics to Diagnose Errors in the Base Cases of Recursive Programs

This paper reports the use of proof planning to diagnose errors in program code. In particular it looks at the errors that arise in the base cases of recursive programs produced by undergraduates. It describes two classes of error that arise in this situation. The use of test cases would catch these errors but would fail to distinguish between them. The system adapts proof critics, commonly used to patch faulty proofs, to diagnose such errors and distinguish between the two classes. It has been implemented in Lambda-clam, a proof planning system, and applied successfully to a small set of examples.

Socio-economic profile of the Philippine National Aquasilviculture Program (PNAP) beneficiaries in Jiabong, Samar, Philippines

A total of 37 beneficiaries under the Philippine National Aquasilviculture Program (PNAP) was interviewed using the structured survey questionnaire of Socioeconomic Monitoring Guidelines for Coastal Managers in Southeast Asia (SocMon SEA). Most of the members of the households are young and in-school. Household heads’ primary occupation is fishing, a shift from mussel farming- the town’s major industry in the past decades. Perceived threat by the beneficiaries is related to the environment specifically typhoon and the problems on waste disposal. It also identified law enforcement as weak leading to dwindling fish catch, mass mortality of mussel, red tide and other problems affecting their primary sources of income. However, they could not relate these phenomena to the most likely causes. The current occupation does not provide sufficient income for the family as they seek for alternative jobs. Garbage and poor implementation of laws are among the identified problems of the beneficiaries.

Motion Planning and Controls with Safety and Temporal Constraints

Motion planning, or trajectory planning, commonly refers to a process of converting high-level task specifications into low-level control commands that can be executed on the system of interest. For different applications, the system will be different. It can be an autonomous vehicle, an Unmanned Aerial Vehicle(UAV), a humanoid robot, or an industrial robotic arm. As human machine interaction is essential in many of these systems, safety is fundamental and crucial. Many of the applications also involve performing a task in an optimal manner within a given time constraint. Therefore, in this thesis, we focus on two aspects of the motion planning problem. One is the verification and synthesis of the safe controls for autonomous ground and air vehicles in collision avoidance scenarios. The other part focuses on the high-level planning for the autonomous vehicles with the timed temporal constraints. In the first aspect of our work, we first propose a verification method to prove the safety and robustness of a path planner and the path following controls based on reachable sets. We demonstrate the method on quadrotor and automobile applications. Secondly, we propose a reachable set based collision avoidance algorithm for UAVs. Instead of the traditional approaches of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking control set design for the aircraft to avoid collision. We apply our approach to collision avoidance scenarios of quadrotors and fixed-wing aircraft. In the second aspect of our work, we address the high level planning problems with timed temporal logic constraints. Firstly, we present an optimization based method for path planning of a mobile robot subject to timed temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specifications such as safety, coverage, motion sequencing etc. We use metric temporal logic (MTL) to encode the task specifications with timing constraints. We then translate the MTL formulae into mixed integer linear constraints and solve the associated optimization problem using a mixed integer linear program solver. We have applied our approach on several case studies in complex dynamical environments subjected to timed temporal specifications. Secondly, we also present a timed automaton based method for planning under the given timed temporal logic specifications. We use metric interval temporal logic (MITL), a member of the MTL family, to represent the task specification, and provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find an optimal motion (or path) sequence for the robot to complete the task.

Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation

This thesis studies mobile robotic manipulators, where one or more robot manipulator arms are integrated with a mobile robotic base. The base could be a wheeled or tracked vehicle, or it might be a multi-limbed locomotor. As robots are increasingly deployed in complex and unstructured environments, the need for mobile manipulation increases. Mobile robotic assistants have the potential to revolutionize human lives in a large variety of settings including home, industrial and outdoor environments.

Mobile Manipulation is the use or study of such mobile robots as they interact with physical objects in their environment. As compared to fixed base manipulators, mobile manipulators can take advantage of the base mechanism’s added degrees of freedom in the task planning and execution process. But their use also poses new problems in the analysis and control of base system stability, and the planning of coordinated base and arm motions. For mobile manipulators to be successfully and efficiently used, a thorough understanding of their kinematics, stability, and capabilities is required. Moreover, because mobile manipulators typically possess a large number of actuators, new and efficient methods to coordinate their large numbers of degrees of freedom are needed to make them practically deployable. This thesis develops new kinematic and stability analyses of mobile manipulation, and new algorithms to efficiently plan their motions.

I first develop detailed and novel descriptions of the kinematics governing the operation of multi- limbed legged robots working in the presence of gravity, and whose limbs may also be simultaneously used for manipulation. The fundamental stance constraint that arises from simple assumptions about friction and the ground contact and feasible motions is derived. Thereafter, a local relationship between joint motions and motions of the robot abdomen and reaching limbs is developed. Baseeon these relationships, one can define and analyze local kinematic qualities including limberness, wrench resistance and local dexterity. While previous researchers have noted the similarity between multi- fingered grasping and quasi-static manipulation, this thesis makes explicit connections between these two problems.

The kinematic expressions form the basis for a local motion planning problem that that determines the joint motions to achieve several simultaneous objectives while maintaining stance stability in the presence of gravity. This problem is translated into a convex quadratic program entitled the balanced priority solution, whose existence and uniqueness properties are developed. This problem is related in spirit to the classical redundancy resoxlution and task-priority approaches. With some simple modifications, this local planning and optimization problem can be extended to handle a large variety of goals and constraints that arise in mobile-manipulation. This local planning problem applies readily to other mobile bases including wheeled and articulated bases. This thesis describes the use of the local planning techniques to generate global plans, as well as for use within a feedback loop. The work in this thesis is motivated in part by many practical tasks involving the Surrogate and RoboSimian robots at NASA/JPL, and a large number of examples involving the two robots, both real and simulated, are provided.

Finally, this thesis provides an analysis of simultaneous force and motion control for multi- limbed legged robots. Starting with a classical linear stiffness relationship, an analysis of this problem for multiple point contacts is described. The local velocity planning problem is extended to include generation of forces, as well as to maintain stability using force-feedback. This thesis also provides a concise, novel definition of static stability, and proves some conditions under which it is satisfied.

Iowa Attorney General's Crime Victim Assistance Division: Three Year Program Reports Fiscal Years 2011, 2012, 2013 July 1, 2010 through June 2013, December 2014

We are pleased to present this report of our work and accomplishments on behalf of crime victims and survivors. The eight programs of the CVAD served over 225,000 Iowa crime victims over SFY11, SFY12 & SFY13. This report statistically outlines the services being provided in each of these individual programs. CVAD Staff and funded victim service providers work day in and day out to provide essential, victim-centered services to those who have been harmed by violent crime. This report aims to capture the work being performed around the State of Iowa with CVAD funds. Significant accomplishments have occurred during this reporting period, including the initial planning phases of a restructuring of domestic violence, sexual assault, shelter-based and homicide survivor programming and services; enhancements in automated victim notification and continued strides in restitution collection.

A Review of the Richland County DJJ Electronic Monitoring Program

The Electronic Monitoring Program for Richland County DJJ was selected as a topic to research because there were problems in the Richland County DJJ Office with equipment being lost, equipment being damaged, and staff failing to utilize the technology properly. If utilized correctly, Electronic Monitoring Technology can help reduce commitments of juveniles to secure facilities which will save the State of South Carolina incarceration costs. This paper explores the training and planning of electronic monitoring in Richland County.

STIP Statewide Transportation Improvement Program 2017-2022

The South Carolina Statewide Transportation Improvement Program is the six-year transportation improvement program for all projects and program areas receiving federal funding, including pavements, bridges, upgrades, freight, safety, congestion mitigation and air quality, transportation alternatives program, railroad crossings, planning, State Infrastructure Bank payments, preventative maintenance and operations, and public transportation. The STIP is formatted to include summaries of statewide programming, as well as project information by county. In addition, regional project tables are included to account for multi-jurisdictional projects.