Comparative study of two laparoscopic instrument tracker designs for motion analysis and image-guided surgery: a technical evaluation

Laparoscopic instrument tracking systems are a key element in image-guided interventions, which requires high accuracy to be used in a real surgical scenario. In addition, these systems are a suitable option for objective assessment of laparoscopic technical skills based on instrument motion analysis. This study presents a new approach that improves the accuracy of a previously presented system, which applies an optical pose tracking system to laparoscopic practice. A design enhancement of the artificial markers placed on the laparoscopic instrument as well as an improvement of the calibration process are presented as a means to achieve more accurate results. A technical evaluation has been performed in order to compare the accuracy between the previous design and the new approach. Results show a remarkable improvement in the fluctuation error throughout the measurement platform. Moreover, the accumulated distance error and the inclination error have been improved. The tilt range covered by the system is the same for both approaches, from 90º to 7.5º. The relative position error is better for the new approach mainly at close distances to the camera system

Supervised classification of minimally invasive surgery psychomotor competence based on instruments motion analysis

Background Objective assessment of psychomotor skills has become an important challenge in the training of minimally invasive surgical (MIS) techniques. Currently, no gold standard defining surgical competence exists for classifying residents according to their surgical skills. Supervised classification has been proposed as a means for objectively establishing competence thresholds in psychomotor skills evaluation. This report presents a study comparing three classification methods for establishing their validity in a set of tasks for basic skills’ assessment. Methods Linear discriminant analysis (LDA), support vector machines (SVM), and adaptive neuro-fuzzy inference systems (ANFIS) were used. A total of 42 participants, divided into an experienced group (4 expert surgeons and 14 residents with >10 laparoscopic surgeries performed) and a nonexperienced group (16 students and 8 residents with <10 laparoscopic surgeries performed), performed three box trainer tasks validated for assessment of MIS psychomotor skills. Instrument movements were captured using the TrEndo tracking system, and nine motion analysis parameters (MAPs) were analyzed. The performance of the classifiers was measured by leave-one-out cross-validation using the scores obtained by the participants. Results The mean accuracy performances of the classifiers were 71 % (LDA), 78.2 % (SVM), and 71.7 % (ANFIS). No statistically significant differences in the performance were identified between the classifiers. Conclusions The three proposed classifiers showed good performance in the discrimination of skills, especially when information from all MAPs and tasks combined were considered. A correlation between the surgeons’ previous experience and their execution of the tasks could be ascertained from results. However, misclassifications across all the classifiers could imply the existence of other factors influencing psychomotor competence.

Field experiment of 800× off-axis XR-Köhler concentrator module on a carousel tracker

This paper presents the design and preliminary experimental results of a concentrator-type photovoltaic module based on a free-form off-axis 800×XR-Köhler concentrator. The off-axis XR-Köhler concentrator is one of the advanced concentrators that perform high concentration with a large acceptance angle and excellent irradiance uniformity on a solar cell. As a result of on-sun characterization of the unglazed single-cell unit test rig, the temperature-corrected DC module efficiency was 32.2% at 25 °C without an anti-reflective (AR) coating on the secondary optics, and the acceptance angle was more than ±1.0°. In addition, the non-corrected DC efficiency of an individual cell in a glazed 8-cell unit module mounted on a carousel tracking system was measured. The individual efficiency deviated in the range of 24.3-27.4%, owing to the mirror shape and alignment errors. The resultant series-connected efficiency was approximately 25% at direct normal irradiation (DNI) of 770 W/m2.

Assessing the potential of hybrid fossil–solar thermal plants for energy policy making: Brayton cycles

This paper proposes a first study in-depth of solar-fossil hybridization from a general perspective. It develops a set of useful parameters for analyzing and comparing hybrid plants, it studies the case of hybridizing Brayton cycles with current solar technologies and shows a tentative extrapolation of the results to integrated combined cycle systems (ISCSS). In particular, three points have been analyzed: the technical requirements for solar technologies to be hybridized with Brayton cycles, the temperatures and pressures at which hybridization would produce maximum power per unit of fossil fuel, and their mapping to current solar technologies and Brayton cycles. Major conclusions are that a hybrid plant works in optimum conditions which are not equal to those of the solar or power blocks considered independently, and that hybridizing at the Brayton cycle of a combined cycle could be energetically advantageous.

Localización y seguimiento de aeronaves mediante sistemas de multilateración de área extensa

El continuo crecimiento de la demanda del transporte aéreo, junto con los nuevos escenarios de intervención militar, están obligando a una optimización en el uso del espacio aéreo. De este modo, la UE y los EEUU (a través de SESAR y NextGen respectivamente) han asentado las bases para una nueva gestión del tráfico aéreo (ATM). Con ello, se pretende aumentar la capacidad de aeropuertos y rutas aéreas, otorgando mayor flexibilidad al uso del espacio aéreo sin comprometer la seguridad de los usuarios. Desde un punto de vista puramente técnico, la clave de este cambio de modelo está en el conocimiento de la posición de cada aeronave en cada instante. En este sentido, la tendencia en ATM es el uso de ADS-B como fuente principal de posicionamiento. Sin embargo, debido a que este sistema está basado en la difusión de la posición obtenida a través de GPS, es necesario un sistema de seguimiento independiente. Actualmente, la intención es migrar del radar secundario de vigilancia (SSR) a la multilateración de área extensa (WAM), con el fin de mejorar la integridad de la posición para aplicaciones en ruta. Aprovechando el rápido despliegue de ADS-B, se pretende reutilizar sus estaciones base para WAM. Cada estación base que recibe el mensaje ADS-B de la aeronave envía conjuntamente la medida del tiempo de llegada (TOA) de dicho mensaje al centro de tráfico aéreo. La posición de la aeronave se obtiene mediante multilateración, cuya técnica consiste en utilizar las medidas de TOA de un mismo mensaje ADS-B obtenidas en las distintas estaciones base. El objetivo es estimar la posición de cada aeronave con la mayor precisión posible. Para poder diseñar el sistema que permite alcanzar este objetivo, son dos los aspectos básicos a estudiar. Por una parte, la identificación y posterior caracterización de los errores (tanto sistemáticos como aleatorios) que afectan a la medida de TOA. Por otra parte, es necesario el estudio de los sistemas de seguimiento, basados en versiones sofisticadas del filtro de Kalman (IMM, UKF). Una vez establecidos estos dos pilares, la presente tesis doctoral propone un sistema que permite efectuar el seguimiento de las aeronaves, corrigiendo los efectos de las principales distorsiones que afectan a la medida de TOA: la refracción troposférica y el error de sincronismo. La mejora en la precisión de la localización ha sido evaluada mediante simulación de escenarios hipotéticos. ABSTRACT The ever-growing demand in the air transportation and the new military intervention scenarios, are generating a need to optimize the use of the airspace. This way, the EU and the USA (through SESAR and NextGen respectively) have set the ground to overhaul the current air traffic management. The intention is to enhance the capacity of airports and air routes, providing greater flexibility in the use of airspace without jeopardizing the security of the end-users. From a technical perspective, the key for this change lies in the knowledge of the aircraft position. The trend in Air Traffic Management (ATM) is to rely on ADS-B as the main source for aircraft positioning. However, this system is based on the aircraft’s self-declaration of its own (often GPS-based) navigation solution. It is therefore necessary to have an independent surveillance system. Nowadays, the intention is to gradually migrate from Secondary Surveillance Radar (SSR) towards Wide Area Multilateration (WAM) in order to enhance surveillance integrity for en-route applications. Given the fast deployment of ADS-B, the aim is to use its base stations for WAM. Each station sends the Time of Arrival (TOA) of the received ADS-B messages to the air traffic center (ATC). The aircraft position is obtained through multilateration, using the TOA of the same message measured by each station. The aim is to accurately estimate the position of each aircraft. Knowledge from two key areas has to be gathered prior to designing such a system. It is necessary to identify and then characterize the errors (both systematic and random) affecting the TOA measurements. The second element is the study of tracking systems based on sophisticated versions of the Kalman filtering (e.g. IMM, UKF). Based on this knowledge, the main contribution of this Ph.D. is an aircraft tracking system that corrects the effects of the main errors involved in the TOA measurement: tropospheric refraction and synchronization issues. Performance gains in positioning accuracy have been assessed by simulating hypothetical WAM scenarios.

Evolutionary relationships of the coelacanth, lungfishes, and tetrapods based on the 28S ribosomal RNA gene.

The origin of land vertebrates was one of the major transitions in the history of vertebrates. Yet, despite many studies that are based on either morphology or molecules, the phylogenetic relationships among tetrapods and the other two living groups of lobe-finned fishes, the coelacanth and the lungfishes, are still unresolved and debated. Knowledge of the relationships among these lineages, which originated back in the Devonian, has profound implications for the reconstruction of the evolutionary scenario of the conquest of land. We collected the largest molecular data set on this issue so far, about 3,500 base pairs from seven species of the large 28S nuclear ribosomal gene. All phylogenetic analyses (maximum parsimony, neighbor-joining, and maximum likelihood) point toward the hypothesis that lungfishes and coelacanths form a monophyletic group and are equally closely related to land vertebrates. This evolutionary hypothesis complicates the identification of morphological or physiological preadaptations that might have permitted the common ancestor of tetrapods to colonize land. This is because the reconstruction of its ancestral conditions would be hindered by the difficulty to separate uniquely derived characters from shared derived characters in the coelacanth/lungfish and tetrapod lineages. This molecular phylogeny aids in the reconstruction of morphological evolutionary steps by providing a framework; however, only paleontological evidence can determine the sequence of morphological acquisitions that allowed lobe-finned fishes to colonize land.

Modelagem e controle de posição e orientação de uma Plataforma de Stewart

Este trabalho apresenta o controle de posição e orientação de um modelo não linear de Plataforma de Stewart com seis graus de liberdade construído no ambiente de sistemas multicorpos ADAMS® desenvolvido pela Mechanical Dynamics, Inc. O modelo não linear é exportado para o ambiente SIMULINK® desenvolvido pela MathWorks, Inc., onde o controle de posição e orientação é realizado a partir da linearização do modelo e a aplicação de um sistema seguidor com realimentação de estados. Utililiza-se, também o SIMULINK® para implementar a dinâmica de um sistema servoválvula e cilindro hidráulico com um servocontrole de pressão e assim simular o comportamento dinâmico de um simulador de vôo com acionamento hidráulico. A utilização destes pacotes comerciais visa obter uma economia de tempo e esforço na modelagem de sistemas mecânicos complexos e na programação para obtenção da resposta do sistema no tempo, além de facilitar a análise de várias configurações de Plataformas de Stewart

Developing Autonomous Microgrids: A Theoretical Case Study

Microgrids are autonomously operated, geographically clustered electricity generation and distribution systems that supply power in closed system settings; they are highly compatible with renewable energy sources and distributed generation technologies. Mocrogrids are currently a serially underutilized and underappreciated commodity in the energy infrastructure portfolio worldwide. To demonstrate feasibility under poor conditions (little renewable energy potential and high demand) this capstone project develops a theoretical case study in which a renewable microgrid is employed to power rural communities of southern Montgomery County, Arkansas. Utilizing commercially manufactured 1.5-megawatt wind turbines and a 1-megawatt solar panel generation system, 4-megawatts of lithium ion battery storage, and demand response technology, a microgrid is designed that supplies 235 households with reliable electricity supply.

Presentaciones Simulación y Optimización de Procesos Químicos (curso 2011-2012)

Presentaciones en power point de los temas correspondientes a la asignatura «Simulación y Optimización de procesos químicos».

Presentacions de Geologia Aplicada a l'Enginyeria

L'arxiu conté catorze presentacions tipo Power Point, corresponents als temes impartits durant el curs 2010/11 en la assignatura de Geologia Aplicada a l'Enginyeria Civil.

Presentaciones ppt Biochemistry I. Grado en Biología

Presentaciones de power point para el seguimiento de la asignatura Biochemistry I, grupo A.R.A. Primer curso del Grado en Biología. Universidad de Alicante

Educar en igualdad de género: una responsabilidad pendiente

Power Point sobre la lección magistral del acto de graduación de Magisterio del 16.10.2014

Ideas previas y aprendizaje significativo en la enseñanza de la Geografía

Resumen en power point de la ponencia presentada en el Congreso de Didáctica de la Geografía, organizado en Córdoba en noviembre de 2014.

Toward equality of well-being : strategies for improving minority health : strategic planning and coordination process.

S/N 037017-024-01504-1 (GPO).

Listing of school districts and joint agreements by distribution code, 1986-1987 /

"The following listing is to be used in completing the Special education funding and child tracking system (FACTS), ISBE Form 34-30 and the Special education personnel employed, ISBE Forms 50-44 and 54-10."