Orbscan Topography in Primary Open-Angle Glaucoma

Purpose: To compare anterior and posterior corneal curvatures between eyes with primary open-angle glaucoma (POAG) and healthy eyes. Methods: This is a prospective, cross-sectional, observer-masked study. A total of 138 white subjects (one eye per patient) were consecutively recruited; 69 eyes had POAG (study group), and the other 69 comprised a group of healthy control eyes matched for age and central corneal pachymetry with the study ones. Exclusion criteria included any corneal or ocular inflammatory disease, previous ocular surgery, or treatment with carbonic anhydrase inhibitors. The same masked observer performed Goldmann applanation tonometry, ultrasound pachymetry, and Orbscan II topography in all cases. Central corneal thickness, intraocular pressure, and anterior and posterior topographic elevation maps were analyzed and compared between both groups. Results: Patients with POAG had greater forward shifting of the posterior corneal surface than that in healthy control eyes (p < 0.01). Significant differences in anterior corneal elevation between controls and POAG eyes were also found (p < 0.01). Conclusions: Primary open-angle glaucoma eyes have a higher elevation of the posterior corneal surface than that in central corneal thickness–matched nonglaucomatous eyes.

La enseñanza de robótica en el Máster en Automática y Robótica mediante un robot modular

Este trabajo muestra cómo se realiza la enseñanza de robótica mediante un robot modular y los resultados educativos obtenidos en el Máster Universitario en Automática y Robótica de la Escuela Politécnica Superior de la Universidad de Alicante. En el artículo se describen los resultados obtenidos con el uso de este robot modular tanto en competencias genéricas como específicas, en las enseñanzas de electrónica, control y programación del Máster. En este artículo se exponen los objetivos de aprendizaje para cada uno de ellos, su aplicación a la enseñanza y los resultados educativos obtenidos. En los resultados del estudio, cabe destacar que el alumno ha mostrado mayor interés y ha fomentado su aprendizaje autónomo. Para ello, el robot modular se construyó con herramientas para fomentar este tipo de enseñanza y aprendizaje, tales como comunicaciones interactivas para monitorizar, cambiar y adaptar diversos parámetros de control y potencia del robot.

Desarrollo de un robot modular para la enseñanza en el Máster en Automática y Robótica

Este trabajo presenta el diseño, construcción y programación de un robot modular para el desarrollo tanto de competencias genéricas como específicas, en las enseñanzas de electrónica, control y programación del Master de Automática y Robótica de la Escuela Politécnica Superior de la Universidad de Alicante. En este trabajo se exponen los diferentes módulos propuestos, así como los objetivos de aprendizaje para cada uno de ellos. Uno de los factores más importantes a destacar en el presente estudio es el posible desarrollo de la creatividad y el aprendizaje autónomo. Para ello, se desarrollará especialmente un módulo de comunicación por bluetooth que servirá para monitorizar, cambiar y adaptar on-line diversos parámetros de control y potencia del robot. Además, dicha herramienta se ha introducido como parte de la metodología en las asignaturas del Máster de Electromecánica y Sistemas de Control Automático. En esta memoria se mostrarán los distintos resultados obtenidos durante y en la finalización de este trabajo.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Zoning and Open Spaces, Washington, D.C., 1936 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Base map of the District of Columbia showing public and zoning areas, base prepared in the Office of the Surveyor, D.C., by direction of the Engineer Commissioner, D.C. It was published by Engineer Commissioner in 1936. Scale [ca. 1:19,200]. Base map "complete to June 13, 1933." The image inside the map neatline is georeferenced to the surface of the earth and fit to the Maryland State Plane Coordinate System Meters NAD83 (Fipszone 1900). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as residential areas, open spaces, commercial and industrial areas, alley dwelling areas, roads, block numbers, railroads and stations, drainage, selected public buildings and points of interest, parks, cemeteries, and more. This layer is part of a selection of digitally scanned and georeferenced historic maps from The Harvard Map Collection as part of the Imaging the Urban Environment project. Maps selected for this project represent major urban areas and cities of the world, at various time periods. These maps typically portray both natural and manmade features at a large scale. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Access to environmental information in an Open European Society - Directive 2003/4. Research Paper in Law 5/2003

[From the Introduction]. Information gives knowledge and knowledge gives power. Though in all EC Member States, the task to protect the environment is given to the administration, it is obvious that the administration is not the owner of the environment. The environment is everybody's. It is for this reason that administrative decisions which affect the environment must be transparent, open and must strike a balance between the general interest to preserve, protect and improve the quality of the environment on the one hand, the satisfying of specific private or public interests on the other hand. In order to allow at least a certain control of whether the administration strikes the right balance between the need to protect the environment and other legitimate or less legitimate needs, it appears normal and self-evident that information on the environment which is in the hands of public authorities, be also made available to the public and to citizens.

Projeto de uma antena para controlo wireless de um robot

A comunicação e transmissão de informação sem fios tornou - se uma realidade cada vez mais utilizada pelas sociedades contemporâneas. A nível profissional, as forças armadas de cada país acharam conveniente modernizar os seus meios, por forma a aumentar a eficiência e a segurança em determinadas tarefas. Nesse sentido, o Exército português adquiriu um robot (ROVIM) cuja função é desempenhar ações de reconhecimento e vigilância de modo a obter informações de forma segura. O objetivo desta dissertação é dimensionar e construir uma antena para controlo wireless do robot (ROVIM). As especificações técnicas desta antena requerem dois modos de operação, um com uma largura de feixe larga e outro com uma largura de feixe estreita. Para alcançar esses objetivos dimensionou-se e construiu-se duas antenas. Na dissertação são construídas duas antenas, a primeira é uma antena Yagi – Uda convencional e a segunda é uma antena com uma estrutura nova que permite a regulação do ganho e da largura de feixe a -3 dB. A primeira antena será o modelo base da segunda antena, que apresenta a inovação do controlo das caraterísticas de radiação. Esse controlo é possível através da introdução de díodos e do respetivo circuito de polarização na estrutura da antena. Inicialmente, as antenas foram dimensionadas e simuladas recorrendo ao programa de simulação CST MWS, de modo a operarem na banda dos 2,4 GHz. Após a construção das antenas, as caraterísticas de radiação foram medidas recorrendo à câmara anecoica e ao network analyzer, permitindo assim a comparação dos resultados medidos com os simulados.

Control and navigation of a rover for agricultural purposes

L’obiettivo di questa tesi è di descrivere e implementare via software un modello di rover autonomo per uso in ambito agricolo. La scelta di questo argomento deriva dal fatto che al laboratorio CASY dell’Università di Bologna è stato commissionato un robot che possa aiutare piccoli imprenditori agricoli a essere competitivi con i più grandi. Le funzionalità che il robot avrà, una volta ultimato, andranno dal tagliare l’erba allo spruzzare fertilizzante sugli alberi da frutto. Questa tesi si interessa del progetto del sistema di navigazione. Inizialmente viene introdotto il modello cinematico e in particolare la configurazione differential drive in cui il rover rientra. Successivamente viene elaborato un sistema di controllo basato sulla linearizzazione statica del feedback. Una volta completati il modello e il sistema di controllo si procede con la generazione di traiettoria: vengono analizzati e confrontati alcuni algoritmi per l’inseguimento di una traiettoria definita tramite waypoint. Infine è presentato un algoritmo per la navigazione all’interno di un campo di filari di alberi da frutto. Le uniche informazioni esterne disponibili in questo contesto sono le rilevazioni di sensori di distanza frontali e laterali, in quanto un GPS sarebbe troppo impreciso per gli scopi. Questa tesi costituisce la base per ulteriori sviluppi del progetto. In particolare la realizzazione di un programma di supervisione che stabilisca la modalità di moto da attuare e programmi specifici per le varie funzionalità agricole del rover.

FROG (formulation of a robot organization that generalizes) : a hardwardware [sic] experiment in machine cognition /

Vita.

Microform sets in U.S. and Canadian libraries : report of a survey on the bibliographic control of microform sets conducted by the Association of Research Libraries Microform Project /

Mode of access: Internet.

Optimal pseudo-derivative-feedback control/

Thesis (M.S.)--Cornell University, Jan., 1975.

Storet II : storage and retrieval of data for open water and land areas /

Mode of access: Internet.

Mollusca Non-Grata: The influence of top-down control and residence time on the abundance, distribution, and behavior of non-native marine snails in Washington State

Thesis (Ph.D.)--University of Washington, 2016-06

Determining the specification of a control system from that of its environment

Well understood methods exist for developing programs from given specifications. A formal method identifies proof obligations at each development step: if all such proof obligations are discharged, a precisely defined class of errors can be excluded from the final program. For a class of closed systems such methods offer a gold standard against which less formal approaches can be measured. For open systems -those which interact with the physical world- the task of obtaining the program specification can be as challenging as the task of deriving the program. And, when a system of this class must tolerate certain kinds of unreliability in the physical world, it is still more challenging to reach confidence that the specification obtained is adequate. We argue that widening the notion of software development to include specifying the behaviour of the relevant parts of the physical world gives a way to derive the specification of a control system and also to record precisely the assumptions being made about the world outside the computer.

Systemic reduction in glutathione levels occurs in patients with primary open-angle glaucoma

PURPOSE. To assess the level of plasma glutathione in patients with untreated primary open-angle glaucoma. METHODS. Twenty-one patients with newly diagnosed primary open-angle glaucoma and 34 age- and gender-matched control subjects were subjected to a blood analysis to detect the level of circulating glutathione in its reduced and oxidized forms. The effect of age, gender, and systemic blood pressure on circulating glutathione levels was also analyzed. RESULTS. Age had a negative effect on the level of both reduced and total glutathione (P = 0.002, r = -0.52 and P = 0.002, r = -0.52, respectively) in control subjects but not in patients with glaucoma (P > 0.05, r = 0.27, and P > 0.05, r = 0.22, respectively). In the control group, men demonstrated higher levels of both reduced and total glutathione than did women (P = 0.024 and P = 0.032, respectively). After correction for age and gender influences on blood glutathione levels, patients with glaucoma exhibited significantly lower levels of reduced and total glutathione than did control subjects (P = 0.010, F = 7.24 and P = 0.006, F = 8.38, respectively). No differences between study groups were observed in either oxidized glutathione levels or redox index (P > 0.05, F = 0.50; and P > 0.05, F = 0.30, respectively). CONCLUSIONS. Patients with glaucoma exhibit low levels of circulating glutathione, suggesting a general compromise of the antioxidative defense. Copyright © Association for Research in Vision and Ophthalmology.