858 research outputs found
Corrigendum: Machine learning clinical decision support for interdisciplinary multimodal chronic musculoskeletal pain treatment
No full textIn the published article, there was a mistake in the corresponding author email address for author Rob J. E. M. Smeets. The email was incorrectly displayed as “[email protected]” The correct email address is: “[email protected]” The authors apologize for this error and state that this does not change the scientific conclusions of the article in any way. The original article has been updated.</p
Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery –Preliminary Results of a New Approach
No full textMinimally invasive robotic surgery (MIRS) entails
total absence of haptic feedback due to the spatial separation
of patient and surgeon. In conventional surgery, however,
palpation to detect superficial arteries by a slight pulsation is
an important, commonly applied, and security-relevant procedure.
Therefore, an ultrasound based unidirectional sensor for
MIRS was developed feeding back kinesthetic impulses to the
surgeon-sided haptic input device
Effect and Improvement Areas for Port State Control Inspections to Decrease the Probability of Casualty
No full textThis report is the fourth part of a PhD project called "The Econometrics of Maritime Safety – Recommendations to Enhance Safety at Sea" and is based on 183,000 port state control inspections and 11,700 casualties from various data sources. Its overall objective is to provide recommendations to improve safety at sea. The fourth part looks into measuring the effect of inspections on the probability of casualty on either seriousness or casualty first event to show the differences across the regimes. It further gives a link of casualties that were found during inspections with either the seriousness of casualties and casualty first events which reveals three areas of improvement possibilities to potentially decrease the probability of a casualty – the ISM code, machinery and equipment and ship and cargo operations.maritime safety;correspondence analysis;binary logistic regression;probability of casualty;improvement;Port State Control Effectiveness;casualty first events;detention;port state control deficiences;target factor
Energy-Efficient Train Timetabling
No full textRunning time calculation is an essential ingredient in train timetabling. Traditionally, the technical minimum running times are computed in detail after which a running time supplement is added to obtain the scheduled running times. This running time supplement must be translated into lower cruising speeds or coasting regimes to cover the entire scheduled running time for on-time running. How this is done determines the exact time-distance train paths and the energy consumption of the trains. This chapter explains how train trajectory optimization can be used to compute energy-efficient train trajectories between two stops, over multiple stops including the optimal allocation of running time supplements between the stops, and over corridors considering the track occupation of multiple trains. It is argued that microscopic train timetabling based on energy-efficient train trajectories and blocking time theory is required to design robust conflict-free timetables that enable energy-efficient train operation. The theory is illustrated with many examples under realistic conditions, such as varying gradients and speed restrictions.Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Transport and Plannin
Quantitative hypermorphic FAM111A alleles cause autosomal recessive Kenny-Caffey syndrome type 2 and osteocraniostenosis
No full textKenny-Caffey syndrome (KCS) is a rare genetic disorder characterized by extreme short stature, cortical thickening and medullary stenosis of tubular bones, facial dysmorphism, abnormal T-cell function, and hypoparathyroidism. Biallelic loss-of-function variants in TBCE cause autosomal recessive type 1 KCS (KCS1). By contrast, heterozygous missense variants in a restricted region of the FAM111A gene have been identified in autosomal dominant type 2 KCS (KCS2) and a more severe lethal phenotype, osteocraniostenosis (OCS) that have recently been shown to confer a gain-of-function. In this study, we describe two unrelated children with KCS and OCS who were homozygous for different FAM111A variant alleles that result in replacement of the same residue, Tyr414 (c.1241A>G, p.Y414C and c.1240T>A, p.Y414N), in the mature FAM111A protein. Their heterozygous relatives are asymptomatic. Functional studies of recombinant FAM111AY414C demonstrated normal dimerization and a mild gain-of-function effect. This study provides evidence that both biallelic and monoallelic variants of FAM111A with varying degrees of activation can lead to dominant or recessive KCS2 and OCS.Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made.Journal content freely available via Open Access. Some content may be unavailable due to publisher embargo. Click on the 'Additional link' above to access the full-text
Energy-Efficient Train Operation: Conclusions and Future Work
No full textThis chapter gives the basic conclusions about energy-efficient train operation covering energy-efficient train driving, energy-efficient train timetabling, regenerative braking, energy storage systems and power supply networks. Future work that will develop energy-efficient train operation further include the interaction of connected driver advisory systems (C-DAS) and automatic train operation (ATO) with railway traffic management systems, cooperative train control in platoons of virtually coupled trains, digital twin technology and particularly its application to power supply systems, and the interaction between the railway network with the electrical power grid and renewable energy generation.Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Transport and Plannin
Rotation identification in geometric algebra : theory and application to the navigation of underwater robots in the field
No full text© The Author(s), 2015. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Journal of Field Robotics 32 (2015): 632–654, doi:10.1002/rob.21572.We report the derivation and experimental evaluation of a stable adaptive identifier to estimate rigid body rotations using rotors in Geometric Algebra (GA). This work is motivated by the need for in situ estimation of the alignment between sensors commonly used in underwater vehicle navigation. Here we derive an adaptive identifier using a geometric interpretation of the error to drive first-order rotor kinematics. We prove that it is Lyapunov stable, and we show that it is asymptotically stable in the presence of persistent excitation. We use the identifier to estimate the alignment between the Doppler velocity log sonar and the fiber optic gyrocompass used by underwater vehicles for dead reckoning (DR). We evaluate this method in the laboratory with a remotely operated vehicle (ROV), and then with an autonomous underwater vehicle (AUV) operating in the field at 1,200 m depth. Our results show that this technique reduces dead reckoning navigation errors on these platforms and provides comparable performance to previously reported SO(3) constrained Linear Algebra (LA) approaches. The rotor identifier has a number of advantages over these previously reported methods, including a more straightforward derivation, simpler gain tuning, increased computational efficiency, and reduced data manipulation.This work was supported in part by the National Defense Science and Engineering Graduate Program (MJS), the Edwin A. Link Foundation (MJS), the WHOI Academic Programs Office (MJS), The Jessie B. Cox Endowed Fund in Support of Scientific Staff (JCK), and The Penzance Endowed Fund in Support of Assistant Scientists (JCK)
Closed‐loop one‐way‐travel‐time navigation using low‐grade odometry for autonomous underwater vehicles
No full text© The Author(s), 2017. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Journal of FIeld Robotics 35 (2018): 421-434, doi:10.1002/rob.21746.This paper extends the progress of single beacon one‐way‐travel‐time (OWTT) range measurements for constraining XY position for autonomous underwater vehicles (AUV). Traditional navigation algorithms have used OWTT measurements to constrain an inertial navigation system aided by a Doppler Velocity Log (DVL). These methodologies limit AUV applications to where DVL bottom‐lock is available as well as the necessity for expensive strap‐down sensors, such as the DVL. Thus, deep water, mid‐water column research has mostly been left untouched, and vehicles that need expensive strap‐down sensors restrict the possibility of using multiple AUVs to explore a certain area. This work presents a solution for accurate navigation and localization using a vehicle's odometry determined by its dynamic model velocity and constrained by OWTT range measurements from a topside source beacon as well as other AUVs operating in proximity. We present a comparison of two navigation algorithms: an Extended Kalman Filter (EKF) and a Particle Filter(PF). Both of these algorithms also incorporate a water velocity bias estimator that further enhances the navigation accuracy and localization. Closed‐loop online field results on local waters as well as a real‐time implementation of two days field trials operating in Monterey Bay, California during the Keck Institute for Space Studies oceanographic research project prove the accuracy of this methodology with a root mean square error on the order of tens of meters compared to GPS position over a distance traveled of multiple kilometers.This work was supported in part through funding from the Weston
Howland Jr. Postdoctoral Scholar Award (BCC), the U.S. Navy's Civilian
Institution program via the MIT/WHOI Joint Program (JHK),W. M.
Keck Institute for Space Studies, and theWoods Hole Oceanographic
Institution
Introduction to Energy-Efficient Train Operation
No full textRailway, as one of the most energy-efficient transport, plays an essential role in improving the world’s energy and environmental sustainability. Statistics about rail share of transport activities and the corresponding energy consumption will demonstrate the energy efficiency of railway and indicate the potential of developing railway transport. Therefore, this chapter will provide an overview of the railway's energy consumption and traffic volume shares. Statistics presented in this chapter show that railway energy consumption decreased in these decades while its transport volume kept stable, and the traffic volume share of the railway is extremely large in urban transport. To achieve the goal of carbon neutralization, the European Union and many countries have conducted research projects on railway energy conservation. The technologies developed in these projects include energy-efficient train driving, integrated timetabling, using regenerative braking energy, etc. A summary of these technologies is also given, along with their potential energy savings, which range from 1 to 25%. This book will analyse and illustrate the whole systems processes of train operation with optimisation solutions. The structure of the following chapters will be presented at the end.Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Transport and Plannin
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