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See detailRandomised controlled non-inferiority trial of primary care-based facilitated access to an alcohol reduction website: cost-effectiveness analysis
Hunter, Rachael; Wallace, Paul; Struzzo, Pierluigi et al

in BMJ Open (2017), 7(11),

Objectives To evaluate the 12-month costs and quality-adjusted life years (QALYs) gained to the Italian National Health Service of facilitated access to a website for hazardous drinkers compared with a ... [more ▼]

Objectives To evaluate the 12-month costs and quality-adjusted life years (QALYs) gained to the Italian National Health Service of facilitated access to a website for hazardous drinkers compared with a standard face-to-face brief intervention (BI). Design Randomised 1:1 non-inferiority trial. Setting Practices of 58 general practitioners (GPs) in Italy. Participants Of 9080 patients (>18 years old) approached to take part in the trial, 4529 (49·9%) logged on to the website and 3841 (84.8%) undertook online screening for hazardous drinking. 822 (21.4%) screened positive and 763 (19.9%) were recruited to the trial. Interventions Patients were randomised to receive either a face-to-face BI or access via a brochure from their GP to an alcohol reduction website (facilitated access). Primary and secondary outcome measures The primary outcome is the cost per QALY gained of facilitated access compared with face-to-face. A secondary analysis includes total costs and benefits per 100 patients, including number of hazardous drinkers prevented at 12 months. Results The average time required for the face-to-face BI was 8 min (95% CI 7.5 min to 8.6 min). Given the maximum time taken for facilitated access of 5 min, face-to-face is an additional 3 min: equivalent to having time for another GP appointment for every three patients referred to the website. Complete case analysis adjusting for baseline the difference in QALYs for facilitated access is 0.002 QALYs per patient (95% CI −0.007 to 0.011). Conclusions Facilitated access to a website to reduce hazardous drinking costs less than a face-to-face BI given by a GP with no worse outcomes. The lower cost of facilitated access, particularly in regards to investment of time, may facilitate the increase in provision of BIs for hazardous drinking. Trial registration number NCT01638338;Post-results. [less ▲]

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See detailRapid artificial intelligence solutions in a pandemic—The COVID-19-20 Lung CT Lesion Segmentation Challenge
Roth, Holger R.; Xu, Ziyue; Diez, Carlos Tor et al

in Medical Image Analysis (2022)

Artificial intelligence (AI) methods for the automatic detection and quantification of COVID-19 lesions in chest computed tomography (CT) might play an important role in the monitoring and management of ... [more ▼]

Artificial intelligence (AI) methods for the automatic detection and quantification of COVID-19 lesions in chest computed tomography (CT) might play an important role in the monitoring and management of the disease. We organized an international challenge and competition for the development and comparison of AI algorithms for this task, which we supported with public data and state-of-the-art benchmark methods. Board Certified Radiologists annotated 295 public images from two sources (A and B) for algorithms training (n=199, source A), validation (n=50, source A) and testing (n=23, source A; n=23, source B). There were 1,096 registered teams of which 225 and 98 completed the validation and testing phases, respectively. The challenge showed that AI models could be rapidly designed by diverse teams with the potential to measure disease or facilitate timely and patient-specific interventions. This paper provides an overview and the major outcomes of the COVID-19 Lung CT Lesion Segmentation Challenge - 2020. [less ▲]

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See detailRationalised computational time in fracture simulation: adaptive model reduction and domain decomposition
Goury, Olivier; Kerfriden, Pierre; Margetts, Lee et al

Scientific Conference (2011, June)

Detailed reference viewed: 100 (1 UL)
Peer Reviewed
See detailRe-Interpretation of Conceptualisation - A Contribution to the Advance of Design Theory
Bender, Bernd; Blessing, Lucienne UL

in Lindemann, Udo (Ed.) Human Behaviour in Design. Individuals, Teams, Tools (2003)

Detailed reference viewed: 84 (0 UL)
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See detailReachability analysis of continuous time piecewise linear systems
Hamadeh, A. O.; Goncalves, Jorge UL

in Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference (2005)

This paper presents a new approach to the reachability problem for a class of hybrid systems called Piecewise Linear Systems (PLS). The principal tool used is the impact map between switching surfaces ... [more ▼]

This paper presents a new approach to the reachability problem for a class of hybrid systems called Piecewise Linear Systems (PLS). The principal tool used is the impact map between switching surfaces. The method consists of specifying a ellipsoidal set on the initial switching surface and finding upper- and lower-bound estimates of the possible reach sets using tools such as the S-procedure to set up linear matrix inequalities, of which numerical solutions are then computed. [less ▲]

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See detailReachability analysis of continuous-time piecewise affine systems
Hamadeh, A. O.; Goncalves, Jorge UL

in Automatica (2008), 44(12), 3189-3194

This paper proposes an algorithm for the characterization of reachable sets of states for continuous-time piecewise affine systems. Given a model of the system and a bounded set of possible initial states ... [more ▼]

This paper proposes an algorithm for the characterization of reachable sets of states for continuous-time piecewise affine systems. Given a model of the system and a bounded set of possible initial states, the algorithm employs an LMI approach to compute both upper and lower bounds on reachable regions. Rather than performing computations in the state-space, this method uses impact maps to find the reachable sets on the switching surfaces of the system. This tool can then be used to deduce safety and performance results about the system. [less ▲]

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See detailReal Time Holding Control for Multiline Networks
Laskaris, Georgios UL; Cats, Oded; Jenelius, Erik et al

Poster (2020, January 12)

We introduce a rule based multiline holding criterion for regularity in branch and trunk networks accounting for all passenger groups. On the shared transit corridor, we consider synchronization at the ... [more ▼]

We introduce a rule based multiline holding criterion for regularity in branch and trunk networks accounting for all passenger groups. On the shared transit corridor, we consider synchronization at the merging or the diverging stop. The decision between holding for regularity or synchronization is taken by comparing the expected passenger cost of each control action. The proposed criterion is tested through simulation in a synthetic double fork network with different shares of transferring passengers, control schemes for regularity and synchronization. The results show that multiline control outperforms the state of the art schemes at the network level, stemming from benefits occurring at the first part of the route and the shared transit corridor and a 3.5% more stable joint headway compared to the other schemes. Additionally, it is advised to perform the synchronization at the diverging stop, as it proves to result in a more stable transferring time equal to the joint frequency of the corridor while reducing the transfer time variability up to -42.7%. [less ▲]

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See detailA real time hybrid controller for regulating bus operations and reducing stops at signals
Laskaris, Georgios UL; Seredynski, Marcin; Viti, Francesco UL

Scientific Conference (2019, June)

We propose a hybrid controller which consists of holding and a Driver Advisory System (DAS). It combines the objectives of seeking the regularization of operation and the reduction of stop and go actions ... [more ▼]

We propose a hybrid controller which consists of holding and a Driver Advisory System (DAS). It combines the objectives of seeking the regularization of operation and the reduction of stop and go actions at signalized intersections. A simple headway based holding criterion is applied at stops to define the time needed to maintain even spaced headways between buses and additionally a speed recommendation is given to traverse during green indication at the downstream signalized intersection. The controller is tested using simulation for a bus line of the city of Luxembourg, Luxembourg and compared to a benchmark scenario, the single application of bus holding, two advisory systems and different levels of transit signal priority. Results show that there are additional benefits compared to traditional holding in terms of regularity while similar performance to strong transit signal priority is achieved in terms of time spent at traffic lights. [less ▲]

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See detailReal Time Hyper-elastic Simulations with Probabilistic Deep Learning
Deshpande, Saurabh UL; Lengiewicz, Jakub UL; Bordas, Stéphane UL

in 15th World Congress on Computational Mechanics (WCCM-XV) (2022, August)

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See detailReal time multiline holding control for networks with shared transit corridor
Laskaris, Georgios UL; Cats, Oded; Jenelius, Erik et al

Scientific Conference (2018, September 05)

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See detailReal-time Error Control for Surgical Simulation
Phuoc Bui, Huu; Tomar, Satyendra; Courtecuisse, Hadrien et al

in IEEE Transactions on Biomedical Engineering (2017)

To present the first real-time a posteriori error-driven adaptive finite element approach for realtime simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational ... [more ▼]

To present the first real-time a posteriori error-driven adaptive finite element approach for realtime simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational elasticity and a frictional needle/tissue interaction model. The problem is solved using finite elements within SOFA. The refinement strategy relies upon a hexahedron-based finite element method, combined with a posteriori error estimation driven local h-refinement, for simulating soft tissue deformation. Results: We control the local and global error level in the mechanical fields (e.g. displacement or stresses) during the simulation. We show the convergence of the algorithm on academic examples, and demonstrate its practical usability on a percutaneous procedure involving needle insertion in a liver. For the latter case, we compare the force displacement curves obtained from the proposed adaptive algorithm with that obtained from a uniform refinement approach. Conclusions: Error control guarantees that a tolerable error level is not exceeded during the simulations. Local mesh refinement accelerates simulations. Significance: Our work provides a first step to discriminate between discretization error and modeling error by providing a robust quantification of discretization error during simulations. [less ▲]

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See detailReal-time error controlled adaptive mesh refinement in surgical simulation: Application to needle insertion simulation
Bui, Huu Phuoc; Tomar, Satyendra UL; Courtecuisse, Hadrien et al

in IEEE Transactions on Biomedical Engineering (n.d.)

This paper presents the first real-time discretisation-error-driven adaptive finite element approach for corotational elasticity problems involving strain localisation. We propose a hexahedron-based ... [more ▼]

This paper presents the first real-time discretisation-error-driven adaptive finite element approach for corotational elasticity problems involving strain localisation. We propose a hexahedron-based finite element method combined with local oct-tree $h$-refinement, driven by a posteriori error estimation, for simulating soft tissue deformation. This enables to control the local error and global error level in the mechanical fields during the simulation. The local error level is used to refine the mesh only where it is needed, while maintaining a coarser mesh elsewhere. We investigate the convergence of the algorithm on academic examples, and demonstrate its practical usability on a percutaneous procedure involving needle insertion in a liver. For the latter case, we compare the force displacement curves obtained from the proposed adaptive algorithm with that obtained from a uniform refinement approach. [less ▲]

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See detailReal-time Fault Diagnosis for Large-Scale Nonlinear Power Networks
Pan, Wei UL; Yuan, Ye; Sandberg, Henrik et al

in The proceedings of the IEEE 52nd Annual Conference on Decision and Control (2013)

In this paper, automatic fault diagnosis in large scale power networks described by second-order nonlinear swing equations is studied. This work focuses on a class of faults that occur in the transmission ... [more ▼]

In this paper, automatic fault diagnosis in large scale power networks described by second-order nonlinear swing equations is studied. This work focuses on a class of faults that occur in the transmission lines. Transmission line protection is an important issue in power system engineering because a large portion of power system faults is occurring in transmission lines. This paper presents a novel technique to detect, isolate and identify the faults on transmissions using only a small number of observations. We formulate the problem of fault diagnosis of nonlinear power network into a compressive sensing framework and derive an optimisation-based formulation of the fault identification problem. An iterative reweighted ℓ1-minimisation algorithm is finally derived to solve the detection problem efficiently. Under the proposed framework, a real-time fault monitoring scheme can be built using only measurements of phase angles of nonlinear power networks. [less ▲]

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See detailReal-time graph-based SLAM in unknown environments using a small UAV
Annaiyan, Arun UL; Olivares Mendez, Miguel Angel UL; Voos, Holger UL

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS); Miami 13-16 June 2017 (2017)

Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection ... [more ▼]

Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection for online mapping of unknown outdoor environments using a small UAV. Here, we used an onboard front facing stereo camera as the primary sensor. The data extracted by the cameras are used by the graph-based slam algorithm to estimate the position and create the graph-nodes and construct the map. To avoid multiple detections of one object as different objects and to identify re-visited locations, a loop closure detection is applied with optimization algorithm using the g2o toolbox to minimize the error. Furthermore, 3D occupancy map is used to represent the environment. This technique is used to save memory and computational time for the online processing. Real experiments are conducted in outdoor cluttered and open field environments.The experiment results show that our presented approach works under real time constraints, with an average time to process the nodes of the 3D map is 17.79ms. [less ▲]

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See detailReal-Time Integrated Learning and Decision Making for Cumulative Shock Degradation
Drent, Melvin UL; Drent, Collin UL; Kapodistria, Stella et al

in Manufacturing and Service Operations Management (2022)

Detailed reference viewed: 38 (1 UL)
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See detailReal-Time Large Deformation Simulations Using Probabilistic Deep Learning Framework
Saurabh, Deshpande; Jakub, Lengiewicz; Stephane, Bordas

Scientific Conference (2022, June)

Detailed reference viewed: 34 (12 UL)
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See detailReal-time Model Predictive Control for Aerial Manipulation
Dentler, Jan Eric UL

Doctoral thesis (2018)

The rapid development in the field of Unmanned Aerial Vehicles (UAVs) is driven by new applications in agriculture, logistics, inspection and smart manufacturing. The future keys in these domains are the ... [more ▼]

The rapid development in the field of Unmanned Aerial Vehicles (UAVs) is driven by new applications in agriculture, logistics, inspection and smart manufacturing. The future keys in these domains are the abilities to autonomously interact with the environment and with other robotic systems. This thesis is providing control engineering solutions to contribute to these key capabilities. The first step of this thesis is to develop an understanding of the dynamic behavior of UAVs. For this purpose, dynamic and kinematic models are presented to describe a UAV's motion. This includes a kinematic model which is suitable for off-the-shelf UAVs and combines full 360° heading operation with a low computational complexity. The presented models are subsequently used to develop a nonlinear model predictive control NMPC strategy. In this context, the performance of several NMPC solvers and inequality constraint handling techniques is evaluated. The real-time capability and NMPC performance are validated with real AR.Drone 2.0 and DJI M100 quadrotors. This includes collision avoidance and advanced tracking scenarios. The design work-flow for the related control objectives and constraints is presented accordingly. As a next step, this UAV NMPC strategy is extended for a UAV with attached robotic arm. For this purpose, the forward kinematics of the robotic arm are developed and combined with the kinematic model of the UAV. The resulting NMPC strategy is validated in a grasping scenario with a real aerial manipulator. The final step of this thesis is the NMPC of cooperating UAVs. The computational complexity of such scenarios conflicts directly with the fast UAV dynamics. In addition, control objectives and system topologies can dynamically change. To address these challenges, this thesis presents the DENMPC software framework. DENMPC provides a computationally efficient central NMPC strategy that allows changing the control scenario at runtime. This is finally stated in the control of a real cooperative aerial manipulation scenario. [less ▲]

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See detailA real-time model predictive position control with collision avoidance for commercial low-cost quadrotors
Dentler, Jan Eric UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in IEEE Multi-Conference on Systems and Control (MSC 2016), Buenos Aires, Argentina, 2016 (2016, September 20)

Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local ... [more ▼]

Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local infrastructure. This is not only interesting for delivery of private consumption goods up to the doorstep, but also particularly for smart factories. One drawback of autonomous drone technology is the high development costs, that limit research and development to a small audience. This work is introducing a position control with collision avoidance as a first step to make low-cost drones more accessible to the execution of autonomous tasks. The paper introduces a semilinear state-space model for a commercial quadrotor and its adaptation to the commercially available AR.Drone 2 system. The position control introduced in this paper is a model predictive control (MPC) based on a condensed multiple-shooting continuation generalized minimal residual method (CMSCGMRES). The collision avoidance is implemented in the MPC based on a sigmoid function. The real-time applicability of the proposed methods is demonstrated in two experiments with a real AR.Drone quadrotor, adressing position tracking and collision avoidance. The experiments show the computational efficiency of the proposed control design with a measured maximum computation time of less than 2ms. [less ▲]

Detailed reference viewed: 429 (44 UL)