Real-Time Accurate Rebinning of PET Data Based on the Pseudo-Inverse of the Axial System Matrix

2017 ◽  
Author(s):  
A. Lopez-Montes ◽  
P. Galve ◽  
J.M. Udias ◽  
J.L. Herraiz
Keyword(s):  
Real Time ◽  
System Matrix ◽  
Axial System ◽  
Pseudo Inverse

scholarly journals A real-time inverse kinematics solution based on joint perturbation for redundant manipulators

2021 ◽  
Vol 12 (1) ◽  
pp. 221-235
Author(s):  
Qinhuan Xu ◽  
Qiang Zhan
Keyword(s):  
Real Time ◽  
Inverse Kinematics ◽  
Inverse Method ◽  
Production Efficiency ◽  
Fine Tuning ◽  
Joint Motion ◽  
Redundant Manipulators ◽  
Work Cycle ◽  
Joint Motions ◽  
Pseudo Inverse

Abstract. Aiming at the problem that the calculation of the inverse kinematics solution of redundant manipulators is very time-consuming, this paper presents a real-time method based on joint perturbation and joint motion priority. The method first seeks the pose nearest to the target pose in the manipulator's pose set through fine-tuning all the joints with different angle deviations at the same time and then regards this pose as the starting one to perform iterative calculations until the error between the current pose and the target pose is less than the predetermined error, thus obtaining the inverse kinematics solution corresponding to the target pose. This method can avoid the pseudo-inverse calculations of the Jacobian matrix and significantly reduce the solving complexity. Two types of manipulators are taken as examples to validate the proposed method. Under the premise that the manipulator motion trajectory is satisfied, the Jacobian pseudo-inverse method and the proposed method are both adopted to solve the inverse kinematics. Simulations and comparisons show that the proposed method has better real-time performance, and the joint motions can be flexibly controlled by setting different joint motion priorities. This method can make the work cycle faster and improve the production efficiency of redundant manipulators in real applications.

FEA-AI and AI-AI: Two-Way Deepnets for Real-Time Computations for Both Forward and Inverse Mechanics Problems

2019 ◽  
Vol 16 (08) ◽  
pp. 1950045 ◽  
Author(s):  
G. R. Liu
Keyword(s):  
Inverse Problems ◽  
Real Time ◽  
Convergence Rates ◽  
Industrial Robots ◽  
High Dimensional ◽  
System Matrix ◽  
Dimensional Parameter ◽  
Fem Model ◽  
Real Time Analysis ◽  
Regularization Techniques

Recent breakthroughs in deep-learning algorithms enable dreams of artificial intelligence (AI) getting close to reality. AI-based technologies are now being developed rapidly, including service and industrial robots, autonomous and self-driving vehicles. This work proposes Two-Way Deepnets (TW-Deepnets) trained using the physics-law-based models such as finite element method (FEM), smoothed FEM (S-FEM), and meshfree models, for real-time computations of both forward and inverse mechanics problems of materials and structures. First, unique features of physics-law-based models and data-based models are analyzed in theory. The training characteristics of deepnets for forward problems governed by physics-laws are then investigated, when an FEM (or S-FEM) model is used as the trainer. The training convergence rates of such an FEM-AI model are examined in relation to the property of the system matrix of the FEM model for deepnets. Next, a study on the training characteristics of deepnets for inverse problems, when the forward FEM-trained AI Deepnets are used as the trainer to train an AI model for inverse analyses. Next, a discussion is conducted on the roles of regularization techniques to overcome the ill-posedness of inverse problems in deepnet structures for noisy data. Finally, TW-Deepnets (FEM-AI and AI-AI models) are presented for real-time analyses of both forward and inverse problems of materials and structures with high-dimensional parameter space. The major finding of this study is as follows: (1) The understandings on the fundamental features of both data-based and physics-based methods is critical for creations of novel game-changing computational methods, which take advantages of both types of methods; (2) The good property of the system matrix of FEM allows effective training of FEM-AI deepnets for forward mechanics problems; (3) Our new technique to training inverse deepnets using FEM-AI deepnets as a surrogate model offers an innovative means, to effectively train deepnets for solving inverse mechanics problems; (4) The TW-Deepnets is capable of performing real-time analysis of both forward and inverse problems of materials and structures with high-dimensional parameter spaces; (5) Such TW-Deepnets can be easily utilized by the mass: a transformative new concept of AI-enabling democratization of complicated computational technology in modeling and simulation.

Some Recent Results in Quiescent Prominence Spectrometry

1979 ◽  
Vol 44 ◽  
pp. 41-47
Author(s):  
Donald A. Landman
Keyword(s):  
Real Time ◽  
Computer System ◽  
Spectral Response ◽  
Absolute Intensity ◽  
Solar Observatory ◽  
Target Size ◽  
Small Target ◽  
Signal Averaging ◽  
Quiescent Prominence

This paper describes some recent results of our quiescent prominence spectrometry program at the Mees Solar Observatory on Haleakala. The observations were made with the 25 cm coronagraph/coudé spectrograph system using a silicon vidicon detector. This detector consists of 500 contiguous channels covering approximately 6 or 80 Å, depending on the grating used. The instrument is interfaced to the Observatory’s PDP 11/45 computer system, and has the important advantages of wide spectral response, linearity and signal-averaging with real-time display. Its principal drawback is the relatively small target size. For the present work, the aperture was about 3″ × 5″. Absolute intensity calibrations were made by measuring quiet regions near sun center.

Video real-time imaging of artificial membranes during freeze-drying by cryo-electron microscopy

1988 ◽  
Vol 46 ◽  
pp. 16-17
Author(s):  
Alan S. Rudolph ◽  
Ronald R. Price
Keyword(s):  
Real Time ◽  
Self Assembly ◽  
Freeze Drying ◽  
Video Capture ◽  
Drying Process ◽  
Artificial Membranes ◽  
The Past ◽  
Cryo Electron Microscopy ◽  
Spherical Structures ◽  
Capture Techniques

We have employed cryoelectron microscopy to visualize events that occur during the freeze-drying of artificial membranes by employing real time video capture techniques. Artificial membranes or liposomes which are spherical structures within internal aqueous space are stabilized by water which provides the driving force for spontaneous self-assembly of these structures. Previous assays of damage to these structures which are induced by freeze drying reveal that the two principal deleterious events that occur are 1) fusion of liposomes and 2) leakage of contents trapped within the liposome [1]. In the past the only way to access these events was to examine the liposomes following the dehydration event. This technique allows the event to be monitored in real time as the liposomes destabilize and as water is sublimed at cryo temperatures in the vacuum of the microscope. The method by which liposomes are compromised by freeze-drying are largely unknown. This technique has shown that cryo-protectants such as glycerol and carbohydrates are able to maintain liposomal structure throughout the drying process.

An Interactive Minicomputer Program for the Indexing and Simulation of Electron Diffraction Patterns

1976 ◽  
Vol 34 ◽  
pp. 542-543
Author(s):  
R.P. Goehner ◽  
W.T. Hatfield ◽  
Prakash Rao
Keyword(s):  
Electron Diffraction ◽  
Real Time ◽  
Pattern Analysis ◽  
Flow Diagram ◽  
Hard Copy ◽  
Time Analysis ◽  
Real Time Analysis ◽  
Transmission Electron ◽  
One Step ◽  
Diffraction Patterns

Computer programs are now available in various laboratories for the indexing and simulation of transmission electron diffraction patterns. Although these programs address themselves to the solution of various aspects of the indexing and simulation process, the ultimate goal is to perform real time diffraction pattern analysis directly off of the imaging screen of the transmission electron microscope. The program to be described in this paper represents one step prior to real time analysis. It involves the combination of two programs, described in an earlier paper(l), into a single program for use on an interactive basis with a minicomputer. In our case, the minicomputer is an INTERDATA 70 equipped with a Tektronix 4010-1 graphical display terminal and hard copy unit.A simplified flow diagram of the combined program, written in Fortran IV, is shown in Figure 1. It consists of two programs INDEX and TEDP which index and simulate electron diffraction patterns respectively. The user has the option of choosing either the indexing or simulating aspects of the combined program.

Microstructural investigation of surface roughness in MBE-grown AlAs

1995 ◽  
Vol 53 ◽  
pp. 454-455
Author(s):  
R. Rajesh ◽  
R. Droopad ◽  
C. H. Kuo ◽  
R. W. Carpenter ◽  
G. N. Maracas
Keyword(s):  
Thin Film ◽  
Real Time ◽  
Growth Control ◽  
Native Oxide ◽  
Effusion Cell ◽  
Surface Oxide Layer ◽  
Microstructural Investigation ◽  
Mbe Growth ◽  
Film Substrate ◽  
And Control

Knowledge of material pseudodielectric functions at MBE growth temperatures is essential for achieving in-situ, real time growth control. This allows us to accurately monitor and control thicknesses of the layers during growth. Undesired effusion cell temperature fluctuations during growth can thus be compensated for in real-time by spectroscopic ellipsometry. The accuracy in determining pseudodielectric functions is increased if one does not require applying a structure model to correct for the presence of an unknown surface layer such as a native oxide. Performing these measurements in an MBE reactor on as-grown material gives us this advantage. Thus, a simple three phase model (vacuum/thin film/substrate) can be used to obtain thin film data without uncertainties arising from a surface oxide layer of unknown composition and temperature dependence.In this study, we obtain the pseudodielectric functions of MBE-grown AlAs from growth temperature (650°C) to room temperature (30°C). The profile of the wavelength-dependent function from the ellipsometry data indicated a rough surface after growth of 0.5 μm of AlAs at a substrate temperature of 600°C, which is typical for MBE-growth of GaAs.

Real-time observation of vortex lattices in a superconductor

1993 ◽  
Vol 51 ◽  
pp. 1050-1051
Author(s):  
K. Harada ◽  
T. Matsuda ◽  
J.E. Bonevich ◽  
M. Igarashi ◽  
S. Kondo ◽  
...  
Keyword(s):  
Real Time ◽  
Flux Line ◽  
Electron Holography ◽  
Lorentz Microscopy ◽  
Vortex Lattices ◽  
Flux Lines ◽  
Magnetic Flux Lines ◽  
Time Observation ◽  
Thin Superconductor ◽  
Real Time Observation

Previous observations of magnetic flux-lines (vortex lattices) in superconductors, such as the field distribution of a flux-line, and flux-line dynamics activated by heat and current, have employed the high spatial resolution and magnetic sensitivity of electron holography. And recently, the 2-D static distribution of vortices was also observed by this technique. However, real-time observations of the vortex lattice, in spite of scientific and technological interest, have not been possible due to experimental difficulties. Here, we report the real-time observation of vortex lattices in a thin superconductor, by means of Lorentz microscopy using a 300 kV field emission electron microscope. This technique allows us to observe the dynamic motion of individual vortices and record the events on a VTR system.The experimental arrangement is shown in Fig. 1. A Nb thin film for transmission observation was prepared by chemical etching. The grain size of the film was increased by annealing, and single crystals were observed with a thickness of 50∼90 nm.

Live Confocal Analysis of Fertilization and Early Development

2001 ◽  
Vol 7 (S2) ◽  
pp. 1012-1013
Author(s):  
Uyen Tram ◽  
William Sullivan
Keyword(s):  
Drosophila Melanogaster ◽  
Embryonic Development ◽  
Real Time ◽  
Early Development ◽  
Fluorescent Probes ◽  
Primary Defect ◽  
Fluorescent Analysis ◽  
Dynamic Event ◽  
Enormous Amount ◽  
Fluorescent Studies

Embryonic development is a dynamic event and is best studied in live animals in real time. Much of our knowledge of the early events of embryogenesis, however, comes from immunofluourescent analysis of fixed embryos. While these studies provide an enormous amount of information about the organization of different structures during development, they can give only a static glimpse of a very dynamic event. More recently real-time fluorescent studies of living embryos have become much more routine and have given new insights to how different structures and organelles (chromosomes, centrosomes, cytoskeleton, etc.) are coordinately regulated. This is in large part due to the development of commercially available fluorescent probes, GFP technology, and newly developed sensitive fluorescent microscopes. For example, live confocal fluorescent analysis proved essential in determining the primary defect in mutations that disrupt early nuclear divisions in Drosophila melanogaster. For organisms in which GPF transgenics is not available, fluorescent probes that label DNA, microtubules, and actin are available for microinjection.

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