21 research outputs found
Autonomous Robots in Dynamic Indoor Environments: Localization and Person-Following
No full textAutonomous social robots have many tasks that they need to address such as localization, mapping, navigation, person following, place recognition, etc. In this thesis we focus on two key components required for the navigation of autonomous robots namely, person following behaviour and localization in dynamic human environments. We propose three novel approaches to address these components; two approaches for person following and one for indoor localization. A convolutional neural networks based approach and an Ada-boost based approach are developed for person following. We demonstrate the results by showing the tracking accuracy over time for this behaviour. For the localization task, we propose a novel approach which can act as a wrapper for traditional visual odometry based approaches to improve the localization accuracy in dynamic human environments. We evaluate this approach by showing how the performance varies with increasing number of dynamic agents present in the scene. This thesis provides qualitative and quantitative evaluations for each of the approaches proposed and show that we perform better than the current approaches
Indoor Localization in Dynamic Human Environments Using Visual Odometry and Global Pose Refinement
No full textLow-grade Cortisol Cosecretion Has Limited Impact on ACTH-stimulated AVS Parameters in Primary Aldosteronism.
No full textThis is a pre-copyedited, author-produced version of an article accepted for publication in Journal of Clinical Endocrinology and Metabolism following peer review. The version of record: Samuel Matthew O’Toole, Wing-Chiu Candy Sze, Teng-Teng Chung, Scott Alexander Akker, Maralyn Rose Druce, Mona Waterhouse, Sarah Pitkin, Anne Dawnay, Anju Sahdev, Matthew Matson, Laila Parvanta, William Martyn Drake, Low grade cortisol co-secretion has limited impact on ACTH-stimulated AVS parameters in primary aldosteronism, The Journal of Clinical Endocrinology & Metabolism, dgaa519, https://doi.org/10.1210/clinem/dgaa519CONTEXT: In primary aldosteronism, cosecretion of cortisol may alter cortisol-derived adrenal venous sampling indices. OBJECTIVE: To identify whether cortisol cosecretion in primary aldosteronism alters adrenal venous sampling parameters and interpretation. DESIGN: Retrospective case-control study. SETTING: A tertiary referral center. PATIENTS: 144 adult patients with primary aldosteronism who had undergone both adrenocorticotropic hormone-stimulated adrenal venous sampling and dexamethasone suppression testing between 2004 and 2018. MAIN OUTCOME MEASURES: Adrenal venous sampling indices including adrenal vein aldosterone/cortisol ratios and the selectivity, lateralization, and contralateral suppression indices. RESULTS: 21 (14.6%) patients had evidence of cortisol cosecretion (defined as a failure to suppress cortisol to ≤50 nmol/L post dexamethasone). Patients with evidence of cortisol cosecretion had a higher inferior vena cava cortisol concentration (P = .01) than those without. No difference was observed between the groups in terms of selectivity index, lateralization index, lateralization of aldosterone excess, or adrenal vein cannulation rate. CONCLUSIONS: Cortisol cosecretion alters some parameters in adrenocorticotrophic hormone-stimulated adrenal venous sampling but does not result in alterations in patient management
How behavioural science can help you find the right work with Dr Grace Lordan
No full textS2 Ep 5. Prof Grace Lordan is Author of Think Big, Associate Professor in Behavioural Science & Founder and Director of The Inclusion Initiative at the LSE. Grace used her behavioural science expertise to answer important questions, such as: How can someone in an established career get new skills and experiences in a different area? What role can inclusive leadership play in shaping the future of work? How can people overcome the psychological barriers like fear of failure or imposter syndrome to help them find the right work
Indexing of Journals and Indices of Publications
No full textJournal indexes are indicators toward the quality of a journal. Authors, researchers, and the audience need some criteria to judge which literature they need to read or which journal they need to send their article to. Journal indexes help the respective groups to make this decision. From Index Medicus to Web of Science, journal indexes use different criteria to judge the quality of a journal or an article. Figures like impact factor and CiteScore also rank journals and articles based on various criteria so that the audience and authors can make their pick. Author indices like h-index and ResearchGate score aid in comparing scientific work done by authors and researchers. Indexes of journals, publications, and authors therefore offer a classification of medical literature from which the best can be chosen depending on the requirements in their respective fields
Ovarian cancer screening in the general population.
No full textDespite significant improvements in therapy, ovarian cancer continues to be a leading cause of death amongst women with gynaecological malignancies. Advanced stage at diagnosis is thought to be a major contributor to mortality. Hence, there is considerable interest in early detection through screening. In the 1990s, Professor Jacobs pioneered the development of a multimodal ovarian cancer screening (OCS) strategy using serum CA125 as the first line screen and pelvic ultrasound as the second line test. This thesis summarises the next steps in the journey with refining of the screening algorithm, feasibility testing in a pilot randomised control trial (RCT) and finally setting up and recruiting 200,000 women into the largest ever RCT . The risk of ovarian cancer in postmenopausal women with elevated CA125 levels was established through a detailed analysis of 1219 pelvic scans from 741 women with raised CA125 levels in the completed trial of 22,000 women. Based on this, the multimodal 'Risk of Ovarian Cancer' (ROC) algorithm was refined and morphology instead of volume was used to interpret the ovarian scans. The refined ROC algorithm was then prospectively evaluated in a pilot RCT of 13,582 postmenopausal women. The trial established that screening using the ROC algorithm was feasible and could achieve high specificity and positive predictive value. The improved performance characteristics of the screening strategy and the experience accumulated in running and organising the pilot trial led to the design and successful implementation of a RCT - the UK Collaborative Trial of Ovarian Cancer Screening (UKCTOCS) - to assess the impact of early detection on disease mortality. The trial commenced in 2001 with recruitment of 202,638 postmenopausal women by September 2005. The issues involved in setting up the trial, recruitment of 202,000 women and the baseline characteristics of this population are described
