Traversability estimation for a planetary rover via experimental kernel learning in a Gaussian process framework

A critical requirement for safe autonomous navigation of a planetary rover is the ability to accurately estimate the traversability of the terrain. This work considers the problem of predicting the attitude and configuration angles of the platform from terrain representations that are often incomplete due to occlusions and sensor limitations. Using Gaussian Processes (GP) and exteroceptive data as training input, we can provide a continuous and complete representation of terrain traversability, with uncertainty in the output estimates. In this paper, we propose a novel method that focuses on exploiting the explicit correlation in vehicle attitude and configuration during operation by learning a kernel function from vehicle experience to perform GP regression. We provide an extensive experimental validation of the proposed method on a planetary rover. We show significant improvement in the accuracy of our estimation compared with results obtained using standard kernels (Squared Exponential and Neural Network), and compared to traversability estimation made over terrain models built using state-of-the-art GP techniques.

Visual analog scale and pressure pain threshold for delayed onset muscle soreness assessment

Objectives: To investigate the relationship between two assessments to quantify delayed onset muscle soreness [DOMS]: visual analog scale [VAS] and pressure pain threshold [PPT]. Methods: Thirty-one healthy young men [25.8 ± 5.5 years] performed 10 sets of six maximal eccentric contractions of the elbow flexors with their non-dominant arm. Before and one to four days after the exercise, muscle pain perceived upon palpation of the biceps brachii at three sites [5, 9 and 13 cm above the elbow crease] was assessed by VAS with a 100 mm line [0 = no pain, 100 = extremely painful], and PPT of the same sites was determined by an algometer. Changes in VAS and PPT over time were compared amongst three sites by a two-way repeated measures analysis of variance, and the relationship between VAS and PPT was analyzed using a Pearson product-moment correlation. Results: The VAS increased one to four days after exercise and peaked two days post-exercise, while the PPT decreased most one day post-exercise and remained below baseline for four days following exercise [p < 0.05]. No significant difference among the three sites was found for VAS [p = 0.62] or PPT [p = 0.45]. The magnitude of change in VAS did not significantly correlate with that of PPT [r = −0.20, p = 0.28]. Conclusion: These results suggest that the level of muscle pain is not region-specific, at least among the three sites investigated in the study, and VAS and PPT provide different information about DOMS, indicating that VAS and PPT represent different aspects of pain.

Why fit contact lenses? Part 1 - clinical reasons

There are probably two main reasons why some practitioners do not bother fitting contact lenses – that it is not profitable and it is clinically too difficult. Although this article will concentrate on clinical issues rather than questions of profitability, I feel that the belief that contact lens fitting is not as profitable as prescribing spectacles is unfounded.

Book review: 'Contact lenses: The Story', by T. Bowden. Bower House Publications, Kent 2009.

This book had to be written. Congratulations to British dispensing optician Timothy Bowden for his dogged determination in researching, writing and essentially self-publishing this hefty tome. How does one tackle the monumental task of tracking the complex history of the development of the contact lens, from the production of the first human artificial glass eyes by Ludwig Müller-Uri in Germany in 1835 to the sophisticated, high-technology, multi-billion dollar contact lens industry of today? The superficial answer may seem simple: do it chronologically, but it is much more difficult than that. Multiple contemporaneous and seemingly unconnected events often converged to result in ideas that elevated contact lens technology to the next level and many developments revolved around the deliberate and sometimes accidental activities of a long list of enthusiasts, inventors, entrepreneurs, businessmen, technicians, scientists, engineers, polymer scientists, opticians, optometrists and ophthalmologists.

International contact lens prescribing in 2009

This is the eighth consecutive year that we have presented data from a survey of international contact lens prescribing in Contact Lens Spectrum. In this article we report on an assessment of 25,801 fits across 28 contact lens markets located in North America, Europe, the Middle East, Asia, and Africa. As in previous years, we opted for a prospective approach to this work. Up to 1,000 survey forms were randomly disseminated in each market to contact lens practitioners (ophthalmologists, optometrists, and/or opticians depending on the market), and information about the first 10 patients prescribed with lenses after receipt of paper or electronic survey forms was anonymously recorded.

Ten reasons why rigid contact lenses are obsolete

There have only been minor improvements in rigid lens material developments since silicone acrylates and fluoro-silicone acrylates were introduced over a quarter of a century ago. Although there have been enhancements in mechanical lathing technology in the rigid lens field - primarily as a result of developments in computer-controlled systems - rigid lenses are still manufactured using labour-intensive lathing processes, which is why the lens unit cost remains much higher than for disposable soft lenses.

International contact lens prescribing in 2010

For the past nine years, we have described the current state of contact lens fitting worldwide in Contact Lens Spectrum. This year, we report on 24,642 lens fits in 27 markets. As in all previous years, coordinators in each market distributed up to 1,000 paper or electronic survey forms to contact lens practitioners who, in turn, collected information about their next 10 fits. Data were processed and checked in the survey administrative offices in Manchester, United Kingdom and in Waterloo, Canada.

The changing face of contact lens wearers over 25 years

A combination of factors has dictated patterns of prescribing to contact lens wearers in different age groups over time, such as the evolution of manufacturing technology in bringing better lens designs and replacement frequency options; the aging population demographic; and the knowledge and attitudes of practitioners. Here we explore evolving lens fitting practices at the opposite poles of the age spectrum—children and presbyopes.

Trends in Australian contact lens prescribing 2011

The 12th annual survey of Australian contact lens prescribing was conducted between January and April 2011, employing the same format as in previous years. About 3,000 optometrist members of Optometrists Association Australia were sent an e-mail message with a link to a downloadable questionnaire, and a request that this be accessed, printed and completed to provide details of the first 10 patients fitted with contact lenses after receipt of the questionnaire.

International contact lens prescribing in 2011

This is the 11th annual report of contact lens prescribing trends that we have prepared for Contact Lens Spectrum. Each year, we capture current modes of contact lens practice by asking practitioners in each market (optometrists, opticians or ophthalmologists, as appropriate) to provide information about the first 10 lens fits undertaken after receiving our paper or electronic survey form. In 2011, we captured information about 22,362 fits in 29 countries.

Contact lens prescribing : USA vs the world

Along with other facets of commericialization, the contact lens market has become globalized during the past 30 years. The major international companies have worldwide distribution networks and supply lenses of the same product names and replacement frequencies to all nations, with a few minor adjustments for marketing and regulatory reasons. Small and medium-sized companies, often producing more specialized lenses, are also active in markets across the world.

Contact lens prescribing in Canada 2011

For the past 12 years, the International Contact Lens Prescribing Survey Consortium has sent surveys to a selection of Canadian optometrists in order to collect information on the contact lenses they fit and basic demographic data of the patients. Canada is one of about 40 countries that contributes to the global study and while annual reviews of the study data are presented, information published for any one market is limited due to the size of the dataset.1 This manuscript presents a more detailed analysis on the Canadian market for 2011.