Improving 3D indoor mapping with motion data

Abstract Background Patient motion is a common problem during cardiac PET. The purpose of the present study was to investigate to what extent motions influence the quantitative accuracy of cardiac 15O-water PET/CT and to develop a method for automated motion detection. Method Frequency and magnitude of motion was assessed visually using data from 50 clinical 15O-water PET/CT scans. Simulations of 4 types of motions with amplitude of 5 to 20 mm were performed based on data from 10 scans. An automated motion detection algorithm was evaluated on clinical and simulated motion data. MBF and PTF of all simulated scans were compared to the original scan used as reference. Results Patient motion was detected in 68% of clinical cases by visual inspection. All observed motions were small with amplitudes less than half the LV wall thickness. A clear pattern of motion influence was seen in the simulations with a decrease of myocardial blood flow (MBF) in the region of myocardium to where the motion was directed. The perfusable tissue fraction (PTF) trended in the opposite direction. Global absolute average deviation of MBF was 3.1% ± 1.8% and 7.3% ± 6.3% for motions with maximum amplitudes of 5 and 20 mm, respectively. Automated motion detection showed a sensitivity of 90% for simulated motions ≥ 10 mm but struggled with the smaller (≤ 5 mm) simulated (sensitivity 45%) and clinical motions (accuracy 48%). Conclusion Patient motion can impair the quantitative accuracy of MBF. However, at typically occurring levels of patient motion, effects are similar to or only slightly larger than inter-observer variability, and downstream clinical effects are likely negligible.

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Aerodynamics of inclined cylindrical bodies free-flying in a hypersonic flowfield

Experiments in Fluids ◽

10.1007/s00348-021-03269-6 ◽

2021 ◽

Vol 62 (9) ◽

Author(s):

Patrick M. Seltner ◽

Sebastian Willems ◽

Ali Gülhan ◽

Eric C. Stern ◽

Joseph M. Brock ◽

...

Keyword(s):

High Speed ◽

Degrees Of Freedom ◽

Numerical Data ◽

Static Stability ◽

Free Flight ◽

Aerodynamic Coefficients ◽

Flow Topology ◽

Motion Data ◽

Continuous Rotation ◽

German Aerospace

Abstract The influence of the flight attitude on aerodynamic coefficients and static stability of cylindrical bodies in hypersonic flows is of interest in understanding the re/entry of space debris, meteoroid fragments, launch-vehicle stages and other rotating objects. Experiments were therefore carried out in the hypersonic wind tunnel H2K at the German Aerospace Center (DLR) in Cologne. A free-flight technique was employed in H2K, which enables a continuous rotation of the cylinder without any sting interferences in a broad angular range from 0$$^{\circ }$$ ∘ to 90$$^{\circ }$$ ∘ . A high-speed stereo-tracking technique measured the model motion during free-flight and high-speed schlieren provided documentation of the flow topology. Aerodynamic coefficients were determined in careful post-processing, based on the measured 6-degrees-of-freedom (6DoF) motion data. Numerical simulations by NASA’s flow solvers Cart3D and US3D were performed for comparison purposes. As a result, the experimental and numerical data show a good agreement. The inclination of the cylinder strongly effects both the flowfield and aerodynamic loads. Experiments and simulations with concave cylinders showed marked difference in aerodynamic behavior due to the presence of a shock–shock interaction (SSI) near the middle of the model. Graphic abstract

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Observation and analysis of diving beetle movements while swimming

Scientific Reports ◽

10.1038/s41598-021-96158-1 ◽

2021 ◽

Vol 11 (1) ◽

Author(s):

Debo Qi ◽

Chengchun Zhang ◽

Jingwei He ◽

Yongli Yue ◽

Jing Wang ◽

...

Keyword(s):

Swimming Speed ◽

High Speed ◽

Kinematic Model ◽

Movement Pattern ◽

Unmanned Vehicles ◽

Power Stroke ◽

Cross Sectional ◽

Motion Data ◽

The Cross ◽

Diving Beetle

AbstractThe fast swimming speed, flexible cornering, and high propulsion efficiency of diving beetles are primarily achieved by their two powerful hind legs. Unlike other aquatic organisms, such as turtle, jellyfish, fish and frog et al., the diving beetle could complete retreating motion without turning around, and the turning radius is small for this kind of propulsion mode. However, most bionic vehicles have not contained these advantages, the study about this propulsion method is useful for the design of bionic robots. In this paper, the swimming videos of the diving beetle, including forwarding, turning and retreating, were captured by two synchronized high-speed cameras, and were analyzed via SIMI Motion. The analysis results revealed that the swimming speed initially increased quickly to a maximum at 60% of the power stroke, and then decreased. During the power stroke, the diving beetle stretched its tibias and tarsi, the bristles on both sides of which were shaped like paddles, to maximize the cross-sectional areas against the water to achieve the maximum thrust. During the recovery stroke, the diving beetle rotated its tarsi and folded the bristles to minimize the cross-sectional areas to reduce the drag force. For one turning motion (turn right about 90 degrees), it takes only one motion cycle for the diving beetle to complete it. During the retreating motion, the average acceleration was close to 9.8 m/s2 in the first 25 ms. Finally, based on the diving beetle's hind-leg movement pattern, a kinematic model was constructed, and according to this model and the motion data of the joint angles, the motion trajectories of the hind legs were obtained by using MATLAB. Since the advantages of this propulsion method, it may become a new bionic propulsion method, and the motion data and kinematic model of the hind legs will be helpful in the design of bionic underwater unmanned vehicles.

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