En aplicaciones de captura robotizada se ha hecho necesario el uso de información tridimensional de los objetos que son manipulados. Esta información puede obtenerse mediante dispositivos de adquisición 3D, tales como escáneres láser o cámaras de tiempo de vuelo, que proporcionan imágenes de rango de los objetos. En este trabajo de tesis se presenta un nuevo enfoque para encontrar, sin disponer de una estimación previa, la transformación rígida que produzca una alineación adecuada de las nubes de puntos obtenidas con esos dispositivos. El algoritmo realiza una búsqueda iterativa de correspondencias mediante la comparación de descriptores 2D en varios niveles de resolución utilizando para ello una medida de similitud específicamente diseñada para el descriptor propuesto en esta tesis. Este algoritmo de alineamiento se puede utilizar tanto para modelado 3D como para aplicaciones de manipulación de objetos en situaciones en las que los objetos estén parcialmente ocluidos o presenten simetrías. / In applications of robotic manipulation of objects, the use of three-dimensional information of objects being manipulated has been made necessary. This information can be obtained by 3D acquisition devices, such as laser scanners or cameras of flight time, providing range images of objects. This thesis presents a new approach to find, without having a previous estimate, the Euclidean transformation that produces a proper alignment of point clouds obtained with these devices. The algorithm performs an iterative search for correspondences by comparing 2D descriptors at various levels of resolution using a similarity measure specifically designed for the descriptor proposed in this thesis. This alignment algorithm can be used for both 3D modelling and robotic manipulation applications when objects are partially occluded or have symmetries.

This thesis describes and evaluates a number of algorithms for reducing fixed pattern noise in image sequences. Fixed pattern noise is the dominantnoise component for many infrared detector systems, perceived as a superimposed pattern that is approximately constant for all image frames. Primarily, methods based on estimation of the movement between individual image frames are studied. Using scene-matching techniques, global motion between frames can be successfully registered with sub-pixel accuracy. This allows each scene pixel to be traced along a path of individual detector elements. Assuming a static scene, differences in pixel intensities are caused by fixed pattern noise that can be estimated and removed. The algorithms have been tested by using real image data from existing infrared imaging systems with good results. The tests include both a two-dimensional focal plane array detector and a linear scanning one-dimensional detector, in different scene conditions.

<p>Digital tomosynthesis (DTS) is a quasi-three-dimensional (3D) imaging technique which reconstructs images from a limited angle of cone-beam projections with shorter acquisition time, lower imaging dose, and less mechanical constraint than full cone-beam CT (CBCT). However, DTS images reconstructed by the conventional filtered back projection method have low plane-to-plane resolution, and they do not provide full volumetric information for target localization due to the limited angle of the DTS acquisition. </p><p>This dissertation presents the optimization and clinical implementation of image guided radiation therapy using limited-angle projections.</p><p>A hybrid multiresolution rigid-body registration technique was developed to automatically register reference DTS images with on-board DTS images to guide patient positioning in radiation therapy. This hybrid registration technique uses a faster but less accurate static method to achieve an initial registration, followed by a slower but more accurate adaptive method to fine tune the registration. A multiresolution scheme is employed in the registration to further improve the registration accuracy, robustness and efficiency. Normalized mutual information is selected as the criterion for the similarity measure, and the downhill simplex method is used as the search engine. This technique was tested using image data both from an anthropomorphic chest phantom and from head-and-neck cancer patients. The effects of the scan angle and the region-of-interest size on the registration accuracy and robustness were investigated. The average capture ranges in single-axis simulations with a 44° scan angle and a large ROI covering the entire DTS volume were between -31 and +34 deg for rotations and between -89 and +78 mm for translations in the phantom study, and between -38 and +38 deg for rotations and between -58 and +65 mm for translations in the patient study.</p><p>Additionally, a novel limited-angle CBCT estimation method using a deformation field map was developed to optimally estimate volumetric information of organ deformation for soft tissue alignment in image guided radiation therapy. The deformation field map is solved by using prior information, a deformation model, and new projection data. Patients' previous CBCT data are used as the prior information, and the new patient volume to be estimated is considered as a deformation of the prior patient volume. The deformation field is solved by minimizing bending energy and maintaining new projection data fidelity using a nonlinear conjugate gradient method. The new patient CBCT volume is then obtained by deforming the prior patient CBCT volume according to the solution to the deformation field. The method was tested for different scan angles in 2D and 3D cases using simulated and real projections of a Shepp-Logan phantom, liver, prostate and head-and-neck patient data. Hardware acceleration and multiresolution scheme are used to accelerate the 3D estimation process. The accuracy of the estimation was evaluated by comparing organ volume, similarity and pixel value differences between limited-angle CBCT and full-rotation CBCT images. Results showed that the respiratory motion in the liver patient, rectum volume change in the prostate patient, and the weight loss and airway volume change in the head-and-neck patient were accurately estimated in the 60° CBCT images. This new estimation method is able to optimally estimate the volumetric information using 60-degree projection images. It is both technically and clinically feasible for image-guidance in radiation therapy.</p> / Dissertation

<p>Based on the compressed sensing theorem, we present the integrated software and hardware platform for developing a total-variation based image restoration algorithm by applying prior image information and free-form deformation fields for image guided therapy. The core algorithm we developed solves the image restoration problem for handling missing structures in one image set with prior information, and it enhances the quality of the image and the anatomical information of the volume of the on-board computed tomographic (CT) with limited-angle projections. Through the use of the algorithm, prior anatomical CT scans were used to provide additional information to help reduce radiation doses associated with the improved quality of the image volume produced by on-board Cone-Beam CT, thus reducing the total radiation doses that patients receive and removing distortion artifacts in 3D Digital Tomosynthesis (DTS) and 4D-DTS. The proposed restoration algorithm enables the enhanced resolution of temporal image and provides more anatomical information than conventional reconstructed images.</p><p>The performance of the algorithm was determined and evaluated by two built-in parameters in the algorithm, i.e., B-spline resolution and the regularization factor. These parameters can be adjusted to meet different requirements in different imaging applications. Adjustments also can determine the flexibility and accuracy during the restoration of images. Preliminary results have been generated to evaluate the image similarity and deformation effect for phantoms and real patient's case using shifting deformation window. We incorporated a graphics processing unit (GPU) and visualization interface into the calculation platform, as the acceleration tools for medical image processing and analysis. By combining the imaging algorithm with a GPU implementation, we can make the restoration calculation within a reasonable time to enable real-time on-board visualization, and the platform potentially can be applied to solve complicated, clinical-imaging algorithms.</p> / Dissertation

In this paper, to write, mainly based on Hubei Jingzhou Han Tomb No. 247 of The laws and decrees of the second year"¡Bthe Bamboo Slips of Zhangjiashan in the Eary Han Dynasty Empress Lu years (186BC) promulgated the "The laws and decrees of the second year". And these systems, do in depth. While many of these systems inherited from Qin, but also in the history of the early Han dynasty and the associated changes in state policy, under which such an amendment and gain. In addition to the time of the early Han Dynasty inherited the Qin, " Registration of Residents " and " The System of Granting Homestead ", but also because of the unified emerging empire, no longer need to use Qin "of dollars in the first grant Jue," The System of Granting Homestead, but to set the succession after the system, military medals Jue system has become extremely important to establish the household registration system supporting measures. So, the early Han Dynasty all the people's economic rights and social well-being, they are all related and the title of nobility class. In addition, even the preparation of the results of Wu is not only related to people, security and home management, also affected the litigation system, and even to sit, and even the limits of regional action. A number of related management measures, they must meet for us. Rather special is that the "The laws and decrees of the second year"Lane set a lot of bearing on women's rights law, women enjoy a number of special treatment; even the servants, there are also benefits in the slave girl slave components. "The laws and decrees of the second year" domain inside the official system should not only permit the " Shiwu System " the existence of, and its importance in the history of philology, but also presents the official system, the superiority of the domain. This with the "Shuo Wen Jie Zi ¡E order" than right, more found that "The laws and decrees of the second year".

Volumes of trade between the European Union and China have increased tremendously over the last decades, with the EU becoming China`s largest trading partner. Among the academic world there are serious concerns about the impacts of trade on national environmental regulation setting. There is fear that international trade will not only put advanced nations under strong competitive pressure to lower their environmental standards in order to stay competitive (race to the bottom) but also provide developing nations no incentives to strengthen their environmental protection measures as this would carry costs and reduce their global competitiveness (stuck at the bottom). In contrast to that believe, some scholars, such as David Vogel, argue that engaging in international trade can ¡V under certain assumptions ¡V result in tighter national regulation setting among trading partners (trading-up). This study sets out to analyze the linkage of trade and environmental standards between two major trading powers ¡V the EU and China. China`s integration with the world economy has spurred concerns among environmentalists as it was feared that the country`s national environmental regulatory system will be kept at low levels due to competitiveness considerations. However, China, the opposite can be observed. The EU has adopted strict environmental directives in several areas, and China has upgraded its environmental regulatory system. This study aims to find answers to the question if in the case of trade between the EU and China a situation of trading-up can be identified. In order to bring in domestic as well as international developments, the study applies a two-level games approach. The research is based on recent environmental directives that have been adopted by the EU. A selection of three directives forms the basis of the case studies: the Restriction of Hazardous Substances (RoHS), car emissions standards, and the Registration, Evaluation, Authorization, and Restriction of Chemicals (REACH). The study provides insights into how China is affected by these external regulations, how it responded to them and how it tries to utilize them to boost its economic development and enhance the quality of its environment. As the study reveals, European environmental directives have positive impacts on China`s national environmental regulatory setting processes, since the EU regulations not only raise the awareness of the issue among China`s policy makers and public interest groups but they also called for responses from affected domestic constituents. The external regulations raised the stakes of numerous domestic actors which then had to decide how to react adequately. All in all, the study concludes that EU environmental directives have worked in favor of stricter regulation setting in China.

In the face of the global trend of administrative reform, to cope with changing times and enhance the competitiveness, Taiwan restructures the administrative division into five Metropolitan Cities. To improve the administrative efficiency of the Government and responding to people's need, Central and local government implement reconstruction, rebuilding the organizational culture and the core values. After the Reform, among the five new Metropolitan Cities, Kaohsiung City has the biggest transformation in size of the city and organizational changes, also in geography, culture, industry, transportation, community, and more. It becomes more challenging for the local government to face the new problems. The Household Registration Office is the front-line of customer services and their core value is ¡§to better serve people¡¨. During the general public¡¦s visit to the Household Registration Office, people can feel the changes of better customer services and efficiency. This will change public¡¦s view of the government operation. Therefore, the Kaohsiung Household Registration Office has to set a very clear organizational mission and vision. Furthermore, with the limited resources, managers must worry about how to build the public value and vision, which will be recognized and implemented by the members of the Office. At the same time, these values and vision should be also recognized by the general public. The purpose of this study is to explore public value differences among different parties within the Kaohsiung Household Registration Office. Through Public Affairs Management and literature analysis, I outline the characteristics of regional governance in Kaohsiung City. With in-depth interview of the policy-setting officials of the Kaohsiung Household Registration Office, I also focus on the public values of the Household Registration Office. This study corresponds to four structure (Organization internal process, and financial, and customer, and learning and growth) of Balanced Score Card, and to establish a goal to evaluate the organizational performance. The Social Judgment Theory questionnaires are also based on this. Test target are the entry-level Household Registration Officers of previous known as Kaohsiung City and Kaohsiung County. At the same time, I asked the general public to answer the same Balanced Score Card questionnaires. This will help the manager to understand the variation of public value differences among different parties. This will also help the managers to solve the problem in-time, change the content of public value and to achieve the goal set by the Local Government. This result of the study, for the Household Registration Office, there are no big discrepancy before and after the Reform. The main reason is that Household Registration Office utilizes the nationwide Standardized Computer Operation System. And the regulation is base on Household Registration Act. Both Computer System and regulation are put in place by the Central Government. However, from this study, after the merger of city and County, I did find that the Kaohsiung Household Registration Office need to do an overall adjustment in the allocation of financial resources and staffing, local application of the separate regulations and organizational cultural.

In this thesis, a novel and efficient numerical method is presented for the computation of the L² optimal mass transport mapping in two and three dimensions. The method uses a direct variational approach. A new projection to the constraint technique has been formulated that can yield a good starting point for the method as well as a second order accurate discretization to the problem. The numerical experiments demonstrate that the algorithm yields accurate results in a relatively small number of iterations that are mesh independent. In the first part of the thesis, the theory and implementation details of the proposed method are presented. These include the reformulation of the Monge-Kantorovich problem using a variational approach and then using a consistent discretization in conjunction with the "discretize-then-optimize" approach to solve the resulting discrete system of differential equations. Advanced numerical methods such as multigrid and adaptive mesh refinement have been employed to solve the linear systems in practical time for even 3D applications. In the second part, the methods efficacy is shown via application to various image processing tasks. These include image registration and morphing. Application of (OMT) to registration is presented in the context of medical imaging and in particular image guided therapy where registration is used to align multiple data sets with each other and with the patient. It is shown that an elastic warping methodology based on the notion of mass transport is quite natural for several medical imaging applications where density can be a key measure of similarity between different data sets e.g. proton density based imagery provided by MR. An application is also presented of the two dimensional optimal mass transport algorithm to compute diffeomorphic correspondence maps between curves for geometric interpolation in an active contour based visual tracking application.

<p>Denna rapport beskriver ett examensarbete inom Programmet för Användarinriktad Systemutveckling vid Linköpings universitet, Campus Norrköping. Resultatet är en databasapplikation som är utvecklad specifikt för C.N.S. Systems AB i Linköping. </p><p>I uppgiften ingår analys, utformning, realisering, implementering, dokumentation samt i viss mån även förvaltning och drift. Utvecklingsarbetet har skett i nära samarbete med företaget som har tillhandhållit arbetsplatser och datorutrustning. </p><p>Applikationen är ett dokumentregistreringssystem där information om företagets interna och externa dokument lagras. Tidigare har motsvarande uppgifter lagrats i Excel. Den färdiga databasapplikationen har främst gjort det lättare att registrera och söka ett dokument vilket också var ett av de uppsatta målen. Själva databasen är utvecklad i Access och gränssnittet i Visual Basic. Kopplingen mellan dessa är skapad med ActiveX Data Objects 2.0 (ADO). </p><p>Rapporten ger inledningsvis en närmare presentation av utgångsläge och förutsättningar. Därefter beskrivs teorin bakom det arbetssätt som använts. I resultatdelen presenteras applikationen översiktligt, valda delar lite mer ingående. Och slutligen, i diskussionsavsnittet, görs en subjektiv bedömning av resultatet och utvecklingsarbetet. </p> / <p>This report is based on a project within ”User oriented System development Program”, ASP, at the University of Linköping, Campus Norrköping, Sweden. The result is a database application developed for C.N.S. Systems AB in Linköping. </p><p>The report describes analysis, design, implementation, documentation and in some extent maintenance of the system. The development work has been done in collaboration with the company at their office in Linköping. </p><p>The application handles and stores information about internal and external documents. The purpose of the database is to improve registration and searching of documents. The system is designed with MS Access 2000 connected to Visual Basic with ActiveX Data Objects 2.0(ADO).</p>

Ventilation imaging using 4D-CT is a convenient and cost effective functional imaging methodology which might be of value in radiotherapy treatment planning to spare functional lung volumes. To calculate ventilation imaging from 4D-CT we must use deformable image registration (DIR). This study validates the DIR methods and investigates the dependence of calculated ventilation on DIR methods and ventilation algorithms. The first hypothesis is if ventilation algorithms are robust then they will be insensitive to the precise DIR used provided the DIR is accurate. The second hypothesis is that the change in Houndsfield Unit (HU) method is less dependent on the DIR used and depends more on the CT image quality due to the inherent noise of HUs in normal CT imaging. DIR of the normal end expiration and inspiration phases of the 4D-CT images was used to correlate the voxels between the two respiratory phases. All DIR algorithms were validated using a 4D pixel-based and point-validated breathing thorax model, consisting of a 4D-CT image data set along with associated landmarks. Three different DIR algorithms, Optical Flow (OF), Diffeomorphic Demons (DD) and Diffeomorphic Morphons (DM), were retrospectively applied to the same group of 10 esophagus and 10 lung cancer cases all of which had associated 4D-CT image sets that encompassed the entire lung volume. Three different ventilation calculation algorithms were compared (Jacobian, ΔV, and HU) using the Dice similarity coefficient comparison. In the validation of the DIR algorithms, the average target registration errors with one standard deviation for the DIR algorithms were 1.6 ± 0.7 mm, maximum 3.1 mm for OF, 1.3 ± 0.6 mm, maximum 3.3 mm for DM, 1.3 ± 0.6 mm, maximum 2.8 mm for DD, indicating registration errors were within 2 voxels. Dependence of ventilation images on the DIR was greater for the ΔV and the Jacobian methods than for the HU method. The Dice similarity coefficient for 20% of low ventilation volume for ΔV was 0.33 ± 0.03 between OF and DM, 0.44 ± 0.05 between OF and DD and 0.51 ± 0.04 between DM and DD. The similarity comparisons for Jacobian was 0.32 ± 0.03, 0.44 ± 0.05 and 0.51 ± 0.04 respectively, and for HU 0.53 ± 0.03, 0.56 ± 0.03 and 0.76 ± 0.04 respectively. Dependence of ventilation images on the ventilation method used showed good agreement between the ΔV and Jacobian methods but differences between these two and the HU method were significantly greater. Dice similarity coefficient for using OF as DIR was 0.86 ± 0.01 between ΔV and Jacobian, 0.28 ± 0.04 between ΔV and HU and 0.28 ± 0.04 between Jacobian and HU respectively. When using DM or DD as DIR, similar values were obtained when comparing the different ventilation calculation methods. The similarity values for 20% of the high ventilation volume were close to those found for the 20% low ventilation volume. Mean target registration error for all three DIR methods was within one voxel suggesting that the registration done by either of the methods is quite accurate. Ventilation calculation from 4D-CT demonstrates some degree of dependency on the DIR algorithm employed. Similarities between ΔV and Jacobian are higher than between ΔV and HU and Jacobian and HU. This shows that ΔV and Jacobian are very similar, but HU is a very different ventilation calculation method.