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The use of robotics in harsh environments, such as nuclear decommissioning, has increased in recent years. Environments such as the Fukushima Daiichi accident site from 2011 and the Sellafield legacy ponds highlight the need for robotic systems capable of deployment in hazardous environments unsafe for human workers. To characterise these environments, it is important to develop robust and accurate localization systems that can be combined with mapping techniques to create 3D reconstructions of the unknown environment. This paper describes the development and experimental verification of a localization system for an underwater robot, which enabled the collection of sonar data to create 3D images of submerged simulated fuel debris. The system was demonstrated at the Naraha test facility, Fukushima prefecture, Japan. Using a camera with a bird's-eye view of the simulated primary containment vessel, the 3D position and attitude of the robot was obtained using coloured LED markers (active markers) on the robot, landmarks on the test-rig (passive markers), and a depth sensor on the robot. The successful reconstruction of a 3D image has been created through use of a robot operating system (ROS) node in real-time.
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In this work, we demonstrate that useful C-C bond-forming photoredox catalysis can be performed in air using easily prepared gel networks as reaction media to give similar results as are obtained under inert atmosphere conditions. These reactions are completely inhibited in homogeneous solution in air. However, the supramolecular fibrillar gel networks confine the reactants and block oxygen diffusion, allowing air-sensitive catalytic activity under ambient conditions. We investigate the mechanism of this remarkable protection, focusing on the boundary effect in the self-assembled supramolecular gels that enhances the rates of productive reactions over diffusion-controlled quenching of excited states. Our observations suggest the occurrence of triplet-sensitized chemical reactions in the gel networks within the compartmentalized solvent pools held between the nanofibers. The combination of enhanced viscosity and added interfaces in supramolecular gel media seems to be a key factor in facilitating the reactions under aerobic conditions.
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A new family of surface-functionalized CdSe/ZnS core-shell quantum dots (csQD) has been developed, which work as triplet sensitizers for triplet-triplet annihilation-based photon upconversion (TTA-UC). The surface modification of csQD with acceptor molecules plays a key role in the efficient relay of the excited energy of csQD to emitter molecules in the bulk solution, where the generated emitter triplets undergo triplet-triplet annihilation that leads to photon upconversion. Interestingly, improved UC properties were achieved with the core-shell QDs compared with core-only CdSe QDs (cQD). The threshold excitation intensity, which is defined as the necessary irradiance to achieve efficient TTA process, decreases by more than a factor of four. Furthermore, the total UC quantum yield is enhanced more than 50-fold. These enhancements should be derived from better optical properties of csQD, in which the non-radiative surface recombination sites are passivated by the shell layer with wider bandgap.
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The purpose of this study was to evaluate the effectiveness of a hands-on seminar using a Web conferencing system, based on the post-event questionnaires of the face-to-face and online seminars of the hands-on seminar. For participants to feel realistic training in the online seminars, four educational videos explaining the procedure of the practical skill were created. We compared results of questionnaires acquired from participants after the face-to-face and online seminars. The questions about expectation, comprehension, satisfaction level, and lecture time for the seminars were graded on a 5-point scale. The higher the scores, the higher the rating, except for lecture time. A score of 3 was appropriate for the lecture time, with a higher score indicating that the seminar felt longer and a lower score indicating that the seminar felt shorter. In the evaluation of classroom lectures, such as expectation, comprehension, and satisfaction level for the seminars, there were no significant differences between the face-to-face and online seminars, and both achieved high scores of 4 or more. There was a significant difference in the evaluation of lecture time for classroom lectures, with participants feeling that it was too short in the face-to-face but just right in the online. In all evaluations for hands-on training and discussion, there were no significant differences between the face-to-face and online seminars, and both achieved high scores of 4 or more and time was short. It was concluded that our proposed online seminar approach could achieve a high level of evaluation as face-to-face seminars.
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COVID-19 , Pandemias , Humanos , COVID-19/epidemiologia , Inquéritos e QuestionáriosRESUMO
The first example of triplet-triplet annihilation-based photon upconversion (TTA-UC) from green light to ultraviolet (UV) light sensitized by lead halide perovskite nanocrystals is demonstrated. The combination of a new transmitter that extracts triplet energy from perovskite and a UV emitter with a low triplet energy level lengthens the excitation wavelength of perovskite-sensitized upconverted UV emission.
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PURPOSE: For whole-breast irradiation after breast-conserving surgery, computed tomography simulation (CTS) and irradiation are generally performed during free breathing. In treatment planning, there are three techniques: field-in-field (FIF), physical wedge (PW), and enhanced dynamic wedge (EDW). The aim of this study was to investigate the impact of respiratory motion on doses for these three irradiation techniques. METHODS: All doses were measured using an ionization chamber in a cylindrical phantom on a respiratory motion platform. Doses for each technique were measured with and without phantom motion. The dose without phantom motion was defined as the reference. The reference was compared to the dose with the phantom motion. The positions of the isocenter with respect to the ranges of phantom motion were set as exhale and intermediate. The phantom motion amplitude was set to 5 mm or 10 mm. The respiratory phase to initiate irradiation was varied as inhale, intermediate-inhale, exhale and intermediate-exhale. RESULTS: When the motion amplitude was 10 mm, the dose differences for the FIF, PW, and EDW techniques were 4.2%, 0.5%, and 0.8%, respectively, at the maximum. However, the dose difference for the FIF technique was -0.5% when the isocenter position was set to the intermediate phase of phantom motion. CONCLUSION: We found that the dose difference per fraction was reduced when the respiratory phase during CTS image acquisition was set to the intermediate phase. Meanwhile, the dose differences per fraction for the PW and EDW techniques were less affected by the respiratory motion.
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Planejamento da Radioterapia Assistida por Computador , Radioterapia de Intensidade Modulada , Mastectomia Segmentar , Movimento (Física) , Imagens de Fantasmas , Dosagem Radioterapêutica , RespiraçãoRESUMO
Researchers investigating virtual/augmented reality have shown humans' marked adaptability, especially regarding our sense of body ownership; their cumulative findings have expanded the concept of what it means to have a body. Herein, we report the hand ownership illusion during "two views merged in." In our experiment, participants were presented two first-person perspective views of their arm overlapped, one was the live feed from a camera and the other was a playback video of the same situation, slightly shifted toward one side. The relative visibility of these two views and synchrony of tactile stimulation were manipulated. Participants' level of embodiment was evaluated using a questionnaire and proprioceptive drift. The results show that the likelihood of embodying the virtual hand is affected by the relative visibility of the two views and synchrony of the tactile events. We observed especially strong hand ownership of the virtual hand in the context of high virtual hand visibility with synchronous tactile stimulation.
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Invited for this month's cover picture is the group of Professor Nobuhiro Yanai and Nobuo Kimizuka at Kyushu University. The cover picture shows visible-to-ultraviolet (vis-to-UV) triplet-triplet annihilation-based photon upconversion (TTA-UC) via triplet exciton diffusion in a chromophoric ionic liquid (IL). Chromophore moieties spontaneously form continuous arrays in non-polar nano-domains of the IL. The close arrangement of the chromophores in the IL allowed effective diffusion of triplet excitons, resulting in the vis-to-UV TTA-UC at a low excitation intensity. Read the full text of their Communication at https://doi.org/10.1002/open.201900304.
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Visible-to-ultraviolet (vis-to-UV) triplet-triplet annihilation based photon upconversion (TTA-UC) is achieved in a non-volatile chromophoric ionic liquid (IL) for the first time. A novel IL is synthesized by combining UV-emitting anion 4-(2-phenyloxazol-5-yl)benzenesulfonate (PPOS) and trihexyltetradecylphosphonium cation (P66614). The nanostructured organization of chromophoric anions is demonstrated by synchrotron X-ray and optical measurements. When the IL is doped with a triplet sensitizer tris(2-phenylpyridinato)iridium(III) (Ir(ppy)3), the visible-to-UV TTA-UC with a relatively low threshold excitation intensity of 61â mW cm-2 is achieved. This is due to a large triplet diffusion coefficient in the IL (1.4×10-7â cm2 s-1) as well as a high absorption coefficient 15â cm-1 and a long PPOS triplet lifetime of 1.55â ms, all implemented in the condensed IL system. This work demonstrates the unique potential of ILs to control chromophore arrangements for desired functions.
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PURPOSE: To develop a novel biocompatible solid fiducial marker that prevents radiopaque imaging artifacts and also maintains high imaging contrast for kilovoltage x-ray image-guided radiation therapy. METHODS: The fiducial marker was made of pure zinc. An in-house water-equivalent phantom was designed to evaluate artifacts and visibility under various simulated treatment scenarios. Image artifacts were quantitatively assessed in terms of the metal artifact index (MAI) on kilovoltage computed tomography (CT) and cone-beam CT (CBCT) scans. Marker visibility was evaluated on two types of kilovoltage planar x-ray images in terms of the contrast-to-background ratio (CBR). Comparisons with a conventional gold fiducial marker were conducted. RESULTS: The use of zinc rather than a gold marker mitigates imaging artifacts. The MAI near the zinc marker decreased by 76, 79, and 77 % in CT, and by 77 (81), 74 (80), and 79 (85) % in CBCT full-fan (half-fan) scans, when using one-, two-, and three-marker phantom settings, respectively. The high-contrast part of the zinc marker exhibited CBRs above 2.00 for 28/32 exposures under four (lung, tissue, low-density bone, and high-density bone) different simulation scenarios, making its visibility comparable to that of the gold marker (30/32 exposures with CBRs > 2.00). CONCLUSIONS: We developed a biocompatible, artifact-robust, and highly visible solid zinc fiducial marker. Although further evaluation is needed in clinical settings, our findings suggest its feasibility and benefits for kilovoltage x-ray image-guided radiation therapy.
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Marcadores Fiduciais , Radioterapia Guiada por Imagem , Artefatos , Tomografia Computadorizada de Feixe Cônico , Imagens de Fantasmas , Raios X , ZincoRESUMO
A method for synthesizing coordination nanofibers by extracting the structural motifs of metal-organic frameworks (MOFs) is demonstrated. In these soluble nanofibers, multiple chromophores with largely different sizes and shapes can be arranged at desired compositions, and excited triplet energy migrates among the densely assembled chromophore arrays, showing an efficient photon upconversion even at very low concentration.
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The potential of three-dimensional (3D) metal-halide perovskites to sensitize organic triplets is unveiled. Nanocrystals of surface-modified inorganic cesium lead halide perovskites (CsPbX3, X = Br/I) are found to work as efficient triplet sensitizers for photon upconversion based on triplet-triplet annihilation (TTA-UC) at low excitation intensity.