A soft robotics nonlinear hybrid position/force control for tendon driven catheters

Minimally invasive steerable catheters, commonly implemented in cardiac ablation, are currently operated by interventionalists exposing them to X-ray radiation and requiring the dexterity for accurate steering. To conduct robot-assisted cardiac ablation, highly accurate stable control platform for precise force/position control on the moving tissue is required. This paper introduces hybrid force/position control strategy to apply a constant force to the cardiac tissue while tracking the desired trajectory. The position controller is based on a nonlinear model predictive tracking control satisfying the input constraints. Cosserat rod theory is incorporated for the distal shaft modeling of tendon-driven catheters, and the model is reformulated for controller design and stability proof. Lyapunov-based stability analysis is conducted. To apply the controller, the force-displacement mapping of the cardiac tissue is obtained through ex vivo experimental tests. The performance of the controller is evaluated, and the catheter is capable of regulating the force with the RMSE of 4.9 mN and tracking the position with the RMSE of 0.89 mm. The promising results verify the potential of the application of the introduced approach in real applications including in vitro and clinical cardiac ablation.     

A Plan for the Development of Fusion Energy

This is the final report of a panel set up by the U.S. Department of Energy (DOE) Fusion Energy Sciences Advisory Committee (FESAC) in response to a charge letter dated September 10, 2002 from Dr. Ray Orbach, Director of the DOE's Office of Science. In that letter, Dr. Orbach asked FESAC to develop a plan with the end goal of the start of operation of a demonstration power plant in approximately 35 years. This report, submitted March 5, 2003, presents such a plan, leading to commercial application of fusion energy by mid-century. The plan is derived from the necessary features of a demonstration fusion power plant and from the time scale defined by President Bush. It identifies critical milestones, key decision points, needed major facilities and required budgets. The report also responds to a request from DOE to FESAC to describe what new or upgraded fusion facilities will best serve our purposes over a time frame of the next twenty years.     

An advanced reactive ion etching process for very high aspect-ratio sub-micron wide trenches in silicon

This paper reports on a practical modification of the two-step time-multiplexed plasma etching recipe (also known as the Bosch process) to achieve high aspect-ratio sub-micron wide trenches in silicon. Mixed argon and oxygen plasma depassivation steps are introduced in between the passivation and etching phases to promote the anisotropic removal of the passivation layer at the base of the trench. Argon does not chemically react with polymers and silicon and removes the passivation layer only by physical sputtering. Therefore, it results in a highly anisotropic polymer etching process. This recipe can be easily integrated on conventional ICP equipment and the scalloping on the trench sidewall can potentially be reduced in size to less than 50 nm. To clean up all the passivation residues, a short oxygen plasma step is also added at the end of the cycle that effectively improves the uniformity of the etching profile over various opening sizes. Excellent anisotropy of the inserted argon depassivation step facilitates narrow trenches down to 130 nm wide and gap aspect-ratios as high as 40:1, extending the application of deep reactive ion etching (DRIE) processes into a new broad regime.     

Design through selection: a method that works

In this paper a practical approach to design, based on the concept of selection, is presented. The approach involves: first, the generation of alternative concepts using ideation tecniques; second, the selection of the ‘most-likely-to-succeed’ concepts for further development into feasible alternatives; third, the formulation and solution of selection-decision-support problems to rank the feasible alternatives in order of preference using multiple attributes.The method presented in this paper is a combination of the methods proposed by Pugh and by Mistree and Muster. The former method is appropriate for use in concept selection, which is characterized by many alternatives and essentially insight-based ‘soft’ information. The latter method is appropriate when there are few alternatives and a mix of science-based ‘hard’ and insight-based ‘soft’ information. The method presented by Mistree and Muster is therefore used to formulate and solve the selection-decision-support problem. The design example used in this paper is a modified version of that used by Pugh.     

TP53 Targeted Deep Sequencing of Cell-Free DNA in Esophageal Squamous Cell Carcinoma Using Low-Quality Serum: Concordance with Tumor Mutation

Circulating cell-free DNA (cfDNA) is emerging as a potential tumor biomarker. CfDNA-based biomarkers may be applicable in tumors without an available non-invasive screening method among at-risk populations. Esophageal squamous cell carcinoma (ESCC) and residents of the Asian cancer belt are examples of those malignancies and populations. Previous epidemiological studies using cfDNA have pointed to the need for high volumes of good quality plasma (i.e., >1 mL plasma with 0 or 1 cycles of freeze-thaw) rather than archival serum, which is often the main available source of cfDNA in retrospective studies. Here, we have investigated the concordance of TP53 mutations in tumor tissue and cfDNA extracted from archival serum left-over from 42 cases and 39 matched controls (age, gender, residence) in a high-risk area of Northern Iran (Golestan). Deep sequencing of TP53 coding regions was complemented with a specialized variant caller (Needlestack). Overall, 23% to 31% of mutations were concordantly detected in tumor and serum cfDNA (based on two false discovery rate thresholds). Concordance was positively correlated with high cfDNA concentration, smoking history (p-value = 0.02) and mutations with a high potential of neoantigen formation (OR; 95%CI = 1.9 (1.11–3.29)), suggesting that tumor DNA release in the bloodstream might reflect the effects of immune and inflammatory context on tumor cell turnover. We identified TP53 mutations in five controls, one of whom was subsequently diagnosed with ESCC. Overall, the results showed that cfDNA mutations can be reliably identified by deep sequencing of archival serum, with a rate of success comparable to plasma. Nonetheless, 70% non-identifiable mutations among cancer patients and 12% mutation detection in controls are the main challenges in applying cfDNA to detect tumor-related variants when blindly targeting whole coding regions of the TP53 gene in ESCC.     

Opportunistic scheduling for streaming multimedia users in high-speed downlink packet access (HSDPA)

High-speed downlink packet access (HSDPA) achieves high data rates and high spectral efficiency by using adaptive modulation and coding schemes and employing multicode CDMA. In this paper, we present opportunistic algorithms for scheduling HSDPA users and selecting modulation/coding and multicode schemes that exploit channel and buffer variations to increase the probability of uninterrupted media play-out. First, we introduce a stochastic discrete event model for a HSDPA system. By employing the discrete event model, we transform the scheduling problem of providing uninterrupted play-out to a feasibility problem that considers two sets of stochastic quality-of-service (QoS) constraints: stability constraints and robustness constraints. A methodology for obtaining a feasible solution is then proposed by starting with a so-called stable algorithm that satisfies the stability QoS constraints. Next, we present stochastic approximation algorithms that adapt the parameters of the stable algorithm in a way that a feasible point for the robustness QoS is reached within the feasibility region of the stability QoS.     

A Survey of Approaches to Solving Inverse Problems for Lossless Layered Media Systems

In this paper, we survey approaches to solving inverse problems for lossless layered systems. Such systems can be modeled in two different ways, by nonparametric or parametric models. We review both models, but concentrate our attention on inverse and estimation procedures for parametric models. Algebraic inverse procedures are described for determining the reflection coefficient parameters when measurements are noise free. An extension of these procedures to the case of noisy data is also discussed; but, resulting reflection coefficient values are suboptimal. Finally, we describe two procedures for estimating reflection coefficients from noisy data. One of these, which is very promising, is a maximum-likelihood procedure, which is not only able to provide estimates of reflection coefficients, but is also able to provide estimates of another set of parameters, layer travel times. These maximum-likelihood estimates are optimal.     

Optimal Adaptive Modulation and Coding with Switching Costs

We present an optimal adaptive modulation and coding policy that minimizes the transmission latency and modulation/coding switching cost across a finite-state Markovian fading channel. We formulate the optimal tradeoff between transmission latency and modulation/coding switching cost as a discounted infinite horizon Markov Decision Problem (MDP). By exploiting special structures of the formulated MDP and under certain sufficient conditions, we show that optimal modulation and coding selection policies are monotone in the state variables. These monotone optimal policies are computationally inexpensive to implement and are scalable in terms of channel and switching cost parameters. Numerical results confirm the monotonicity and threshold-based structure of the optimal Modulation and Coding Scheme (MCS) selection policies under the proposed sufficient conditions.     

Dynamic distinct-element analysis of the 800 m high Åknes rock slope

The seismic stability of the Åknes rock slope, western Norway, was analysed by using the distinct element code UDEC (Universal Distinct Element Code). The slope poses a threat to the region as a sudden failure may cause a destructive tsunami in the fjord. The dynamic input was based on earthquakes with return periods of 100 and 1000 years, and in most models the input shear wave was a harmonic function (sine wave). Models with depths of the sliding surface up to 200 m and with ground water conditions derived from site investigations were analysed, as well as models with ground water conditions assumed from possible future draining of the slope. The analyses indicate that an earthquake with a return period of 1000 years is likely to trigger sliding to great depth in the slope at the present ground water conditions and that the slope will be stable if it is drained. The analyses also indicate that sliding is not likely to be triggered by an earthquake with a return period of 100 years at the present ground water conditions.