Intensity-based 2-D-3-D registration of cerebral angiograms

We propose a new method for aligning three-dimensional (3-D) magnetic resonance angiography (MRA) with 2-D X-ray digital subtraction angiograms (DSA). Our method is developed from our algorithm to register computed tomography volumes to X-ray images based on intensity matching of digitally reconstructed radiographs (DRRs). To make the DSA and DRR more similar, we transform the MRA images to images of the vasculature and set to zero the contralateral side of the MRA to that imaged with DSA. We initialize the search for a match on a user defined circular region of interest. We have tested six similarity measures using both unsegmented MRA and three segmentation variants of the MRA. Registrations were carried out on images of a physical neuro-vascular phantom and images obtained during four neuro-vascular interventions. The most accurate and robust registrations were obtained using the pattern intensity, gradient difference, and gradient correlation similarity measures, when used in conjunction with the most sophisticated MRA segmentations. Using these measures, 95% of the phantom start positions and 82% of the clinical start positions were successfully registered. The lowest root mean square reprojection errors were 1.3 mm (standard deviation 0.6) for the phantom and 1.5 mm (standard deviation 0.9) for the clinical data sets. Finally, we present a novel method for the comparison of similarity measure performance using a technique borrowed from receiver operator characteristic analysis.     

The influence of extrinsic and intrinsic risk factors on the probability of sustaining an injury

This study was designed to quantify the relative contributions of extrinsic and intrinsic risk factors to the probability of an injury event. A case-control design was used with data collected from injured patients at an emergency department (n=797) and a community sample matched on area of residence and time of injury (n=797). Principal components analysis was used to develop scales for the measurement of 'intrinsic' risk taking tendencies that were slightly modified versions of previously published measures. Two principal components were identified: 'health risk taking' (HRT) and 'adventurous risk taking' (ART). Logistic regression analysis identified variables that significantly predicted membership of the group of injured cases. The main hypothesis was supported by the results: that 'extrinsic' factors such as location, activity, drug and alcohol use and the type of people present at the time of the injury were related to a greater risk of injury than 'intrinsic' variables (health and adventurous risk taking tendencies). The results suggest that injury research and prevention efforts should continue to focus on the identification and modification of situational risk factors for injury rather developing programs that focus on high-risk individuals. High-risk alcohol use, use of prescribed drugs and aspects of work and recreational environments were identified as warranting particular attention.     

Multi-Modal Locomotion Robotic Platform Using Leg-Track-Wheel Articulations

Other than from its sensing and processing capabilities, a mobile robotic platform can be limited in its use by its ability to move in the environment. Legs, tracks and wheels are all efficient means of ground locomotion that are most suitable in different situations. Legs allow to climb over obstacles and change the height of the robot, modifying its viewpoint of the world. Tracks are efficient on uneven terrains or on soft surfaces (snow, mud, etc.), while wheels are optimal on flat surfaces. Our objective is to work on a new concept capable of combining different locomotion mechanisms to increase the locomotion capabilities of the robotic platform. The design we came up with, called AZIMUT, is symmetrical and is made of four independent leg-track-wheel articulations. It can move with its articulations up, down or straight, allowing the robot to deal with three-dimensional environments. AZIMUT is also capable of moving sideways without changing its orientation, making it omnidirectional. By putting sensors on these articulations, the robot can also actively perceive its environment by changing the orientation of its articulations. Designing a robot with such capabilities requires addressing difficult design compromises, with measurable impacts seen only after integrating all of the components together. Modularity at the structural, hardware and embedded software levels, all considered concurrently in an iterative design process, reveals to be key in the design of sophisticated mobile robotic platforms.This research is supported financially by the Canada Research Chair (CRC) program, the Natural Sciences and Engineering Research Council of Canada (NSERC), the Canadian Foundation for Innovation (CFI) and the Faculty of Engineering of the Université de Sherbrooke. Patent pending.François Michaud is the Canada Research Chairholder in Autonomous Mobile Robots and Intelligent Systems, and an Associate Professor at the Department of Electrical Engineering and Computer Engineering of the Université de Sherbrooke. He is the principal investigator of LABORIUS, a research laboratory working on applying AI methodologies in the design of intelligent autonomous systems that can assist humans in everyday lives. His research interests are architectural methodologies for intelligent decision making, autonomous mobile robotics, social robotics, robot learning and intelligent systems. He received his bachelors degree, Masters degree and Ph.D. degree in Electrical Engineering from the Université de Sherbrooke. He is a member of IEEE, AAAI and OIQ (Ordre des ingénieurs du Québec).Dominic Létourneau has a Bachelor degree in Computer Engineering and a Masters degree in Electrical Engineering from the Université de Sherbrooke. Since 2001, he is a research engineer at the LABORIUS Mobile Robotics and Intelligent Systems Laboratory. His research interests cover combination of systems and intelligent capabilities to increase the usability of autonomous mobile robots in the real world. His expertise lies in artificial vision, mobile robotics, robot programming and integrated design. He is a member of OIQ (Ordre des ingénieurs du Québec).Martin Arsenault has a Bachelor degree in Mechanical Engineering and from the Université de Sherbrooke. For AZIMUT, he developed the Direction subsystem.Yann Bergeron is a Mechanical Junior Engineer working in a consulting engineering firm, Groupe HBA. His field of activity is most oriented in industrial projects and construction. He received his bachelors degree in Mechanical Engineering from the University de Sherbrooke. For AZIMUT, he worked on the Track-Wheel subsystem. He is a member of OIQ (Ordre des ingénieurs du Québec) and JECQ (Jeunes entrepreneurs du Centre-du-Québec).Richard Cadrin has a Bachelor degree in Mechanical Engineering from the Université de Sherbrooke. For AZIMUT, he worked on the Propulstion subsystem.Frédéric Gagnon has a Bachelor degree in Mechanical Engineering and from the Université de Sherbrooke. For AZIMUT, he designed the chassis and worked on the integration of the articulations, the bodywork and the hardware. He is currently a research engineer at LABORIUS, working on AZIMUTs second prototype and other robotic projects. He also contributes in a mobile robotic.Marc-Antoine Legault has a Bachelor degree in Mechanical Engineering from the Université de Sherbrooke, and is currently pursuing a Masters degree at LABORIUS on serial-elastic actuators. He worked on AZIMUTs Propulsion subsystem. He also works on the design of other mobile robotic platforms. He is a member of OIQ (Ordre des ingénieurs du Québec).Mathieu Millette has a Bachelor degree in Mechanical Engineering from the Université de Sherbrooke. For AZIMUT, he developed the Tensor subsystem and he designed and integrated the battery support inside the chassis. He is now working as a junior mechanical engineer in process and technical development in a third sector mill.Jean-François Paré graduated in Mechanical Engineering from the Université de Sherbrooke. He is also trained as a professional coach from R.I.C.K. (Réseau International de Coaching Kokopelli). He launched is own business in individual coaching, team coaching, team building and coaching workshops. For businesses and individuals, he assists people in reaching their well-being and efficiency and to manifest their leadership.Marie-Christine Tremblay has obtained a Bachelor degree in Mechanical Engineering from the Université de Sherbrooke. As a part of the AZIMUTõs team, she contributed the Track-Wheel subsystem and developed a new track with high adherence and wear resistance to climb stairs. She is working in the Engineering Department at Hydra-Fab Industriel, a company conceiving electro-hydraulic systems for high speed trains.Pierre Lepage has a Computer Engineering degree from the Université de Sherbrooke. For AZIMUT, he designed the user interface to control the robot and the propulsion system. He is currently a research engineer at LABORIUS, working on AZIMUTs second prototype and other robotic projects. He is involved in research projects on coordinated behavior of a group of mobile robots. He is also actively involved in a mobile robotic startup.Yan Morin has an Electrical Engineering degree from the Université de Sherbrooke. For AZIMUT, he designed the electrical interface to control the motors of the robot. He is currently a research engineer at LABORIUS, working on AZIMUTs second prototype and other robotic projects. He is also actively involved in a mobile robotic startup.Jonathan Bisson has a Bachelor degree in Computer Engineering and a Masters degree in Electrical Engineering from the Université de Sherbrooke. His contribution to AZIMUT was on the modular distributed computing architecture. His expertise lies in electronics, motor control, embedded systems and ultrasonic transducers.Serge Caron is technician in computer systems at the Department of Electrical Engineering and Computer Engineering of the Universit de Sherbrooke. His interests are in designing mobile robotic platforms, from four-legged to wheeled robots. He is also a writer for hobbyist robotic journals.     

Lithium isotope composition of basalt glass reference material

We present data on the lithium isotope compositions of glass reference materials from the United States Geological Survey (USGS) and the National Institute of Standards and Technology (NIST) determined by multicollector inductively coupled plasma mass spectrometry (MC-ICPMS), thermal ionization mass spectrometry (TIMS), and secondary ionization mass spectrometry (SIMS). Our data on the USGS basaltic glass standards agree within 2 per thousand, independent of the sample matrix or Li concentration. For SIMS analysis, we propose use of the USGS glasses GSD-1G (delta(7)Li 31.14 +/- 0.8 per thousand, 2sigma) and BCR-2G (delta(7)Li 4.08 +/- 1.0 per thousand, 2sigma) as suitable standards that cover a wide range of Li isotope compositions. Lithium isotope measurements on the silica-rich NIST 600 glass series by MC-ICPMS and TIMS agree within 0.8 per thousand, but SIMS analyses show systematic isotopic differences. Our results suggest that SIMS Li isotope analyses have a significant matrix bias in high-silica materials. Our data are intended to serve as a reference for both microanalytical and bulk analytical techniques and to improve comparisons between Li isotope data produced by different methodologies.     

Counting moles automatically from back images

Density of moles is a strong predictor of malignant melanoma, therefore, enumeration of moles is often an integral part of many studies that look at malignant melanoma. An automatic method of segmenting and counting moles would help standardize studies, compared with manual counting. We have developed an unsupervised algorithm for segmenting and counting moles from two-dimensional color images of the back torso region, as part of a study to evaluate the effectiveness of sunscreen. The method consists of a new variant of mean shift filtering that forms clusters in the image and removes noise, a region growing procedure to select candidates, and a rule-based classifier to identify moles. When this algorithm was compared to an assessment by an expert dermatologist, the algorithm showed a sensitivity rate of 91% and diagnostic accuracy of 90% on the test set, for moles larger than 1.5 mm in diameter.     

Simulation of medical electron linac bremsstrahlung beam transport in typical shielding materials

The Monte Carlo N-particle code MCNP version 4C3 was used to investigate the backscattering and transmission of high-energy photons in concrete, iron and lead at deep penetration. A typical bremsstrahlung beam from a 24 MV linac was used, and the transmission up to 15 mean-free paths was studied. Broad beam slab geometry was used. Estimates of the transmission in terms of absorbed dose to tissue ratio and air kerma ratio were performed for the primary and secondary components of the transmitted beam in the three materials. The tissue dose and air kerma buildup factors were calculated and fitted to Berger's equation. Finally, the differential dose albedo values for common reflected angles were determined.     

Supramolecular nanostamping: using DNA as movable type

Here we present a novel printing technique (that we call supramolecular nanostamping), based on the replication of single-stranded DNA features through a hybridization-contact-dehybridization cycle. On a surface containing features each made of single-stranded DNA molecules of known sequence, the complementary DNA molecules are hybridized, spontaneously assembling onto the original pattern due to sequence-specific interactions. These complementary DNA strands, on the end that is assembled far from the original surface, are 5' modified with chemical groups ("sticky ends") that can form bonds with a target surface that is brought into contact. Heating induces dehybridization between DNA strands, leaving the original pattern on the original surface and the copied pattern on the secondary substrate, and thus stamping (see Figure 1). Molecular recognition provides the unique and disruptive ability of transferring large amounts of information in a single printing cycle, that is the simultaneous stamping of spatial information (i.e., the patterns) and of chemical information (i.e., the features' DNA sequence--their chemical composition). This method combines high resolution (<40 nm) with the advantage of an exponential increase in the number of masters; in fact, any printed substrate can be reused as a master. Patterns fabricated via very different lithographic techniques can be replicated.     

Two-dimensional imaging without scanning by multifocal multiphoton microscopy

We describe multifocal multiphoton microscopy giving images without laser scanning. A multitude of 8 x 8 laser beams is focused into a sample yielding two-photon excitation in a plane. The focal spots are arranged in a rectangular array with close spacing between individual points (approximately 0.5 microm). The fluorescence emission from the sample is recorded with a CCD camera, but, owing to the close distance between the beams, they can no longer be regarded as individual points but rather as an illumination of the plane that is covered by the array of focal points. The axial sectioning capability is comparable with an ordinary single-beam two-photon microscope. Interference between the beams that could compromise the axial sectioning capability does not occur in our setup owing to small temporal delays between the individual beams. The axial sectioning capability of the setup is discussed in detail by means of the step response in which the foci are scanned axially into a uniformly fluorescent medium.     

The effect of selected water-soluble excipients on the dissolution of paracetamol and Ibuprofen

The purpose of this investigation was to study the dissolution behavior of paracetamol and ibuprofen in the presence of a range of selected potential excipients. First, a pH-solubility profile was generated for both drugs, and the effect of changing hydrodynamic conditions on the intrinsic dissolution rate was investigated. It was established that both drugs dissolved according to the diffusion-layer model. Paracetamol solubility (approximately 20.3 mg mL^- 1) did not vary from pH 1.2-8.0, corresponding to the in vivo range in the gastrointestinal tract. Ibuprofen had an intrinsic solubility of approximately 0.06 mg mL^- 1, and pK_a was calculated as 4.4. Second, the effects of selected potential excipients (lactose, potassium bicarbonate, sodium bicarbonate, sodium chloride, and tartaric acid) were evaluated by measuring the effect of the inclusion of each additive in the dissolution medium on drug solubility, drug intrinsic dissolution rate, and solution viscosity. The results were evaluated using the diffusion-layer model, and it was determined that for paracetamol, the collected data fitted the model for all the excipients studied. For ibuprofen, it was found that there were differences between the excipients that raised the solution pH above the pK_a to those that did not. For the excipients raising the pH above the pK_a, the effect on intrinsic dissolution rate was not as high as that expected from the change in drug solubility. It was postulated that this might be due to lack of penetration of the excipient into the drug boundary layer microenvironment. Formulators may calculate the effect of adding an excipient based on solubility increases but may not find the dissolution rate improvement expected.     

Exercise thermoregulation and hyperprolactinaemia

The anterior pituitary hormone prolactin (PRL), measured in the peripheral blood circulation, reflects alterations in central brain 5-hydroxytryptamine (serotonin) and dopaminergic activity and is used as a marker of 'central fatigue' during active heat exposure. Significant correlations have consistently been found between PRL and core temperature (T(CORE)) during prolonged exercise. There has been no investigation into the relationship between PRL and other key thermoregulatory variables during exercise, such as weighted mean skin (T(SK)) and mean body temperature (T(B)), heat storage (HS), thermal gradient (T(GRAD)), heart rate (HR) and skin blood flow (cutaneous vascular conductance, CVC). Therefore, the aim of this study was to ascertain if a significant relationship exists between PRL and these thermoregulatory variables during prolonged exercise. Nine active male subjects conducted three trials of approximately 60% VO(2peak) at 70-80 rpm for 45 min on a semi-recumbent cycle ergometer at three different ambient temperatures [6 degrees C (Cold), 18 degrees C (Neutral) and 30 degrees C (Hot)] to elicit varying levels of thermoregulatory stress during exercise. Significant differences existed in T(SK), T(B), HS, T(GRAD) and CVC across the environmental conditions (p < 0.001). Core temperature (T(CORE)), HR and PRL were significantly elevated only in Hot (p < 0.05). Moderate correlations were found for T(CORE), T(SK), T(B), HS, T(GRAD), HR and CVC with post-exercise PRL (rho = 0.358-0.749). The end-of-exercise <38.0 degrees C T(CORE) responses were not (rho = -0.129, p > 0.05) but the >38.0 degrees C T(CORE) responses were (rho = 0.845, p < 0.001) significantly related to their corresponding PRL responses. The significant relationships between PRL release and T(SK), T(B), HS, T(GRAD), HR and CVC have extended previous research on T(CORE) and PRL release and indicate an association between these thermoregulatory variables, as well as T(CORE), and serotonergic/dopaminergic activity during prolonged exercise.