THE APPLICATION OF STEREOSCOPIC VIDEO TO UNDERWATER REMOTELY OPERATED VEHICLES

1997 ◽  
Vol 37 (1) ◽  
pp. 797 ◽  
Author(s):  
A. Woods
Keyword(s):  
Three Dimensional ◽  
Spatial Relationship ◽  
Video Camera ◽  
Stereoscopic Display ◽  
Stereoscopic Video ◽  
Remotely Operated Vehicles ◽  
Video System ◽  
North West ◽  
Manipulator Arm ◽  
Relationship Of

A stereoscopic video system for use with Underwater Remotely Operated Vehicles (ROVs) has been developed by Curtin University's Centre for Marine Science and Technology. The system provides ROV operators with a fully three-dimensional (stereoscopic) view of the ROVs surroundings. This increased perception of depth offers several advantages to both the piloting of ROVs and also to the operation of an ROV manipulator arm.The stereoscopic video system consists of an underwater stereoscopic video camera which fits on the ROV and a stereoscopic display which is installed in the ship-based ROV control room. The system was developed in close cooperation with Woodside Offshore Petroleum which has used the system on their Triton ROV. Three ROVs are currently operated at Woodside's oil fields on Western Australia's North West Shelf.Field use of the system on the Triton ROV has revealed many advantages of stereoscopic video. One of the areas where advantages are particularly evident is in the operation of the manipulator arm. Operators have reported that it is perceptually easier to perform manipulator tasks. This is because the spatial relationship of objects can be immediately identified, making object placement and alignment easier. The system also provides a better understanding of the work site and a perceived improvement in image quality and therefore improved visibility.

scholarly journals A three-dimensional structural dissection of Drosophila polytene chromosomes.

1995 ◽  
Vol 131 (2) ◽  
pp. 279-295 ◽  
Author(s):  
Y Urata ◽  
S J Parmelee ◽  
D A Agard ◽  
J W Sedat
Keyword(s):  
Rna Polymerase Ii ◽  
Polytene Chromosome ◽  
Polytene Chromosomes ◽  
Three Dimensional ◽  
Spatial Relationship ◽  
Band Shape ◽  
Structural Details ◽  
Novel Method ◽  
Relationship Of

We have analyzed the three-dimensional structural details of Drosophila melanogaster polytene chromosome bands and interbands using three-dimensional light microscopy and a novel method of sample preparation that does not involve flattening or stretching the chromosomes. Bands have been visualized in unfixed chromosomes stained with the DNA specific dye 4,6-Diamidino-2-phenylindole (DAPI). Interbands have been visualized using fixed chromosomes that have been immunostained with an antibody to RNA polymerase II. Additionally, these structures have been analyzed using in situ hybridization with probes from specific genetic loci (Notch and white). Bands are seen to be composed of approximately 36 substructural features that measure 0.2-0.4 micron in diameter. We suggest that these substructural features are in fact longitudinal fibers made up of bundles of chromatids. Band shape can be a reproducible characteristic of a particular band and is dependent on the spatial relationship of these bundles, varying from bands with a uniform distribution of bundles to bands with a peripheral concentration of chromatin. Interbands are composed of bundles of chromatids of a similar size and number as those seen in the bands. The distribution of bundles is similar between a band and the neighboring interband, implying that there is a long range organization to the DNA that includes both the coding and the noncoding portions of genes. Finally, we note that the polytene chromosome has a circular shape when viewed in cross section, whether there are one or two homologs present.

scholarly journals Three-dimensional ultrasound in the preoperative staging of rectal cancer: State of the art

2016 ◽  
Vol 63 (1) ◽  
pp. 9-15
Author(s):  
Giulio Santoro ◽  
Fabrizio Vittadello
Keyword(s):  
Rectal Cancer ◽  
Anal Verge ◽  
Preoperative Staging ◽  
Three Dimensional ◽  
Spatial Relationship ◽  
T2 Lesions ◽  
Technological Advances ◽  
Endoscopic Microsurgery ◽  
Circumferential Resection Margin Involvement ◽  
Relationship Of

Imaging modalities such as endorectal ultrasonography (ERUS), pelvic magnetic resonance (MRI) and computed tomography play a fundamental role in evaluating recatl cancer preoperatively, planning surgical procedures, and selecting patients for neoadjuvant therapy. Based on the best available evidence, ERUS is recommended to accurately discriminate between T1 and T2 lesions, for low rectal cancer, defined as 0-5cm from the anal verge, if local excision (with transanal excision of transanal endoscopic microsurgery) is being considered. MRI is the best modality to detect mesorectal fascia invasion and to predict circumferential resection margin involvement. Both modalities have similar limitations in distinguishing metastatic from bening lumph node in the mesorectum. Due to higher panoramicity and multiplanar reconstruction, three-dimensional ERUS allows to visualize the spatial relationship of the rectal tumour in the context of the surrounding structures, improving the accuracy of ultra-sonographic staging. Technological advances and perspectives of ERUS under investigations are represented by real-time colour elastography, Doppler US and contrast-enhanced US.

scholarly journals Spatial Orientation Of Objects Based On Processing Of A Natural Language Text For Storyboard Generation

2020 ◽  
Vol 23 (6) ◽  
pp. 1213-1238
Author(s):  
Vlada Vladimirovna Kugurakova ◽  
Gulnara Faritovna Sahibgareeva ◽  
An' Zung Nguyen ◽  
Andrey Maksimovich Astafiev
Keyword(s):  
Video Games ◽  
Natural Language ◽  
Spatial Orientation ◽  
Three Dimensional ◽  
Spatial Relationship ◽  
Spatial Knowledge ◽  
Natural Language Text ◽  
Camera Rotation ◽  
Relationship Of ◽  
Language Text

The article is devoted to our approaches to processing text in natural language to clarify the specific spatial relationship of objects and three-dimensional frame-by-frame visualization. The proposed approach allows us to show how the explicit constraints of the extracted spatial relationships affect and makes it possible to create possible layouts of objects on the scene. Natural language interpretations for spatial knowledge can generate three-dimensional scenes, which in turn are necessary to translate the scriptwriter's intent into the design of video games. The work also takes into account the rules of directing to create successful shots. Among them, accounting for the plan, camera rotation, as well as compositional nuances.

IMPROVING THE OPERABILITY OF REMOTELY OPERATED VEHICLES

1998 ◽  
Vol 38 (1) ◽  
pp. 849
Author(s):  
A.J. Woods ◽  
J.D. Penrose ◽  
A.J. Duncan ◽  
R. Koch ◽  
D. Clark
Keyword(s):  
Visual Information ◽  
Vision System ◽  
Control Process ◽  
Inertial System ◽  
Research Centre ◽  
Stereoscopic Display ◽  
Remotely Operated Vehicles ◽  
Cooperative Research ◽  
North West ◽  
The North

Underwater Remotely Operated Vehicles (ROV's) have a significant support role to play in offshore petroleum production facilities. The extent to which ROVs can replace diver-based operations depends significantly on ROV capacity and the relative costs of mobilising and implementing the two modes of underwater operation. This paper presents work directed at two aspects of ROV operability: the quality of visual information presented to the ROV pilots and the degree of station keeping control exhibited by the vehicle.Significant improvement in pilot performance of selected maintenance-type tasks has been achieved by the use of a purpose built underwater stereoscopic video camera and associated ship-based stereoscopic display unit. Two generations of cameras have now been built and used on a Perry Triton vehicle in use at the North Rankin A platform on the North West Shelf.In a related program, stereoscopic images of the platform structure are processed to determine the relative position of the ROV. Changes in position are used as inputs to thruster control algorithms, with a view to enabling the vehicle to hold position in fluctuating current fields. The position data from the processed 3D images are linked to output from an on-board inertial system to enable position to be maintained despite periodic loss of visual information.First trials of the combined vision-inertial system indicated some success, notably using the vision system, but indicated difficulties with the inertial package and its integration into the control process. An extension of this project is now being supported by the Australian Maritime Engineering Cooperative Research Centre (AMECRC).

Three-Dimensional Ultrasonic Scanning

1984 ◽  
Vol 25 (3) ◽  
pp. 237-241 ◽  
Author(s):  
K.-E. Fredfeldt ◽  
H. H. Holm ◽  
J. F. Pedersen
Keyword(s):  
Three Dimensional ◽  
Spatial Relationship ◽  
Video Signal ◽  
Ultrasound Images ◽  
Ultrasonic Scanning ◽  
Oscilloscope Screen ◽  
Dynamic Ultrasound ◽  
Conventional Ultrasound ◽  
Relationship Of ◽  
Ultrasound Scanner

Simple experiments which form the basis for a true 3-D demonstration of sectional images are presented and a method for genuine 3-D display of dynamic ultrasound images is described. Eight ultrasound images are recorded with a slightly different angulation of the transducer. The images are extracted from the video signal from a conventional ultrasound scanner and stored in eight digital memories. After recording, each image is displayed on an oscilloscope screen, which is viewed via a fast oscillating mirror. The position of the mirror determines which of the eight images are to be displayed and thereby ensures a correct spatial relationship of the images, resulting in a true 3-D scan presentation.

Teaching Manipulator Kinematics by Painting With Light

2011 ◽  
Author(s):  
Michael Shomin ◽  
Jonathan Fiene
Keyword(s):  
Inverse Kinematics ◽  
Three Dimensional ◽  
Robotic Manipulators ◽  
Video Camera ◽  
Robotic Arm ◽  
End Effector ◽  
Teaching Platform ◽  
Manipulator Arm ◽  
Servo Controller ◽  
Six Degree Of Freedom

In this paper, we examine the creation and benefits of a new teaching platform to introduce and reinforce the key concepts of robotic manipulators in an introductory-level robotics course. This system combines a vintage PUMA 260 six-degree-of-freedom robotic arm with modern control circuitry and a Matlab API. The API operates as a servo controller for the robot, thereby allowing students to apply their knowledge of inverse kinematics to a real manipulator arm. To further motivate the exploration of manipulators, we have developed an open-ended project where students engage in the art of three-dimensional light painting. To facilitate this activity, a tricolor LED has been affixed to the end-effector of the robot. With a digital SLR camera, we take a long-exposure photograph as the robot is driven through a trajectory, effectively painting a picture with the end effector. We have also developed a method to quickly assemble pseudo-long-exposure photographs and videos using an inexpensive video camera. We believe this novel setup and project are an effective way to engage and motivate students to learn the underlying math and dynamics of robotic manipulators.

A Single Video Camera Postural Assessment System to Measure Rotation of the Shoulder During Computer Use

2012 ◽  
Vol 28 (3) ◽  
pp. 343-348 ◽  
Author(s):  
Jennifer L. Bruno ◽  
Zhizhong Li ◽  
Matthieu Trudeau ◽  
Sachin M. Raina ◽  
Jack T. Dennerlein
Keyword(s):  
Three Dimensional ◽  
Video Camera ◽  
Assessment System ◽  
Computer Work ◽  
Shoulder Abduction ◽  
Dimensional System ◽  
Camera System ◽  
Mean Values ◽  
Video System ◽  
The Right

The goal of this study was to evaluate the performance of a single video camera system for measuring shoulder rotation during computer work, and to quantify the work and postural space within which the system performs optimally. Shoulder rotation angles calculated using the video system were compared with angles calculated using an active infrared LED three-dimensional motion analysis system while 10 adult volunteers simulated postures for two different trials: typical of normal computer work (freestyle) and with forced shoulder abduction (constrained). Average and absolute errors were calculated to determine the accuracy and precision of the system, respectively, for each trial, for each position, and for both the right and left hands. For the right hand, mean values for the average and absolute errors were –1 and 0 degrees, respectively. Only the absolute error increased significantly to 12 degrees for the constrained posture compared with freestyle. During normal computer work, the video system provided shoulder rotation angle values similar to those of a three-dimensional system, thus making it a viable and simple instrument to use in field studies.

scholarly journals PIVOTAL: Prioritizing variants of uncertain significance with spatial genomic patterns in the 3D proteome

2020 ◽  
Author(s):  
Siqi Liang ◽  
Matthew Mort ◽  
Peter D. Stenson ◽  
David N. Cooper ◽  
Haiyuan Yu
Keyword(s):  
Web Application ◽  
Three Dimensional ◽  
Spatial Relationship ◽  
Disease Genes ◽  
Variant Prioritization ◽  
Disease Etiology ◽  
Variants Of Uncertain Significance ◽  
Uncertain Significance ◽  
Clinical Responses ◽  
Relationship Of

ABSTRACTVariants of uncertain significance (VUS) have posed an increasingly prominent challenge to clinicians due to their growing numbers and difficulties in making clinical responses to them. Currently there are no existing methods that leverage the spatial relationship of known disease mutations and genomic properties for prioritizing variants of uncertain significance. More importantly, disease genes often associate with multiple clinically distinct diseases, but none of the existing variant prioritization methods provide clues as to the specific type of disease potentially associated with a given variant. We present PIVOTAL, a spatial neighborhood-based method using three-dimensional structural models of proteins, that significantly improves current variant prioritization tools and identifies potential disease etiology of candidate variants on a proteome scale. Using PIVOTAL, we made pathogenicity predictions for over 140,000 VUS and deployed a web application (http://pivotal.yulab.org) that enables users both to explore these data and to perform custom calculations.

Ultrastructural evidence for mast cell-macrophage interrelationships in the dura mater of the rat: Infrequent mast cell-nerve associations

1990 ◽  
Vol 48 (3) ◽  
pp. 352-353
Author(s):  
Ruth V.W. Dimlich
Keyword(s):  
Mast Cell ◽  
Mast Cells ◽  
Dura Mater ◽  
Spatial Relationship ◽  
Potassium Phosphate ◽  
Plasma Extravasation ◽  
Close Spatial Relationship ◽  
Male Wistar Rats ◽  
Headache Pain ◽  
Relationship Of

Mast cells in the dura mater of the rat may play a role in cerebral pathologies including neurogenic inflammation (vasodilation; plasma extravasation) and headache pain . As has been suggested for other tissues, dural mast cells may exhibit a close spatial relationship to nerves. There has been no detailed ultrastructural description of mast cells in this tissue; therefore, the goals of this study were to provide this analysis and to determine the spatial relationship of mast cells to nerves and other components of the dura mater in the rat.Four adult anesthetized male Wistar rats (290-400 g) were fixed by perfusion through the heart with 2% glutaraldehyde and 2.8% paraformaldehyde in a potassium phosphate buffer (pH 7.4) for 30 min. The head of each rat was removed and stored in fixative for a minimum of 24 h at which time the dural coverings were removed and dissected into samples that included the middle meningeal vasculature. Samples were routinely processed and flat embedded in LX 112. Thick (1 um) sections from a minimum of 3 blocks per rat were stained with toluidine blue (0.5% aqueous).

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