Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization.

One of the most fundamental tasks for robots inspecting water distribution pipes is localization, which allows for autonomous navigation, for faults to be communicated, and for interventions to be instigated. Pose-graph optimization using spatially varying information is used to enable localization within a feature-sparse length of pipe. We present a novel method for improving estimation of a robot's trajectory using the measured acoustic field, which is applicable to other measurements such as magnetic field sensing. Experimental results show that the use of acoustic information in pose-graph optimization reduces errors by 39% compared to the use of typical pose-graph optimization using landmark features only. High location accuracy is essential to efficiently and effectively target investment to maximise the use of our aging pipe infrastructure.

Identifying culturally appropriate strategies for coronary heart disease secondary prevention in a regional Aboriginal Medical Service.

Aboriginal Australians experience high rates of coronary heart disease (CHD) at an early age, highlighting the importance of effective secondary prevention. This study employed a two-stage process to evaluate CHD management in a regional Aboriginal Medical Service. Stage 1 involved an audit of 94 medical records of clients with documented CHD using the Audit and Best Practice in Chronic Disease approach to health service quality improvement. Results from the audit informed themes for focus group discussions with Aboriginal Medical Service clients (n=6) and staff (n=6) to ascertain barriers and facilitators to CHD management. The audit identified that chronic disease management was the focus of appointments more frequently than in national data (P<0.05), with brief interventions for lifestyle modification occurring at similar or greater frequency. However, referrals to follow-up support services for secondary prevention were lower (P<0.05). Focus groups identified psychosocial factors, systemic shortcomings, suboptimal medication use and variable awareness of CHD signs and symptoms as barriers to CHD management, whereas family support and culturally appropriate education promoted health care. To optimise CHD secondary prevention for Aboriginal people, health services require adequate resources to achieve best-practice systems of follow up. Routinely engaging clients is required to ensure services meet diverse community needs.

Rigid registration of medical images using 1D and 2D binary projections.

Image registration is a necessary procedure in everyday clinical practice. Several techniques for rigid and non-rigid registration have been developed and tested and the state-of-the-art is evolving from the research setting to incorporate image registration techniques into clinically useful tools. In this paper, we develop a novel rigid medical image registration technique which incorporates binary projections. This technique is tested and compared to the standard mutual information (MI) methods. Results show that the method is significantly more accurate and robust compared to MI methods. The accuracy is well below 0.5° and 0.5 mm. This method introduces two more improvements over MI methods: (1)for 2D registration with the use of 1D binary projections, we use minimal interpolation; and (2) for 3D registration with the use of 2D binary projections the method converges to stable final positions, independent of the initial misregistration.