Note: When clicking on a Digital Object Identifier (DOI) number, you will be taken to an external site maintained by the publisher.
Some full text articles may not yet be available without a charge during the embargo (administrative interval).
What is a DOI Number?
Some links on this page may take you to non-federal websites. Their policies may differ from this site.
-
Abstract The disturbances caused by the blood flow and tissue surface motions are major concerns during the motion planning of an intracardiac robotic catheter. Maintaining a stable and safe contact on the desired ablation point is essential for achieving effective lesions during the ablation procedure. In this paper, a probabilistic formulation of the contact stability and the contact safety for intravascular cardiac catheters under the blood flow and surface motion disturbances is presented. Probabilistic contact stability and contact safety metrics, employing a sample-based representation of the blood flow velocity distribution and the heart motion trajectory, are introduced. Finally, the contact stability and safety for an magnetic resonance imaging-actuated robotic catheter under main pulmonary artery blood flow disturbances and left ventricle surface motion disturbances are analyzed in simulation as example scenarios.more » « less
-
Abstract Contact force quality is one of the most critical factors for safe and effective lesion formation during catheter based atrial fibrillation ablation procedures. In this paper, the contact stability and contact safety of a novel magnetic resonance imaging (MRI)-actuated robotic cardiac ablation catheter subject to surface motion disturbances are studied. First, a quasi-static contact force optimization algorithm, which calculates the actuation needed to achieve a desired contact force at an instantaneous tissue surface configuration is introduced. This algorithm is then generalized using a least-squares formulation to optimize the contact stability and safety over a prediction horizon for a given estimated heart motion trajectory. Four contact force control schemes are proposed based on these algorithms. The first proposed force control scheme employs instantaneous heart position feedback. The second control scheme applies a constant actuation level using a quasi-periodic heart motion prediction. The third and the last contact force control schemes employ a generalized adaptive filter-based heart motion prediction, where the former uses the predicted instantaneous position feedback, and the latter is a receding horizon controller. The performance of the proposed control schemes is compared and evaluated in a simulation environment.more » « less
-
We study the performance of linear solvers for graph Laplacians based on the combinatorial cycle adjustment methodology proposed by [Kelner-Orecchia-Sidford-Zhu STOC-13]. The approach finds a dual flow solution to this linear system through a sequence of flow adjustments along cycles. We study both data structure oriented and recursive methods for handling these adjustments. The primary difficulty faced by this approach, updating and querying long cycles, motivated us to study an important special case: instances where all cycles are formed by fundamental cycles on a length n path. Our methods demonstrate significant speedups over previous implementations, and are competitive with standard numerical routines.more » « less
-
more » « less
Abstract Soil resource partitioning and dispersal limitation have been shown to shape the tree community structure of mature tropical forests, but are poorly studied in the context of forest succession. We examined the relative contributions of both ecological processes to the variation in the species composition of young tropical secondary forests at different spatial scales, and if the relative importance of these two ecological processes changed during succession. At the species level, we examined if the association between species abundances and soil fertility differed between early and late successional species and/or changed over the course of succession.
We used vegetation and soil data from 47 secondary forest sites with two plots each in a tropical agricultural landscape. A distance‐based redundancy analysis and variation partitioning were employed to examine the relative importance of spatial distance (proxy for dispersal limitation) and heterogeneity in soil nutrients (proxy for soil nutrient partitioning) at the landscape scale, and a linear regression to test their effects at the local scale. We examined interspecific variation in species’ responses to successional age and soil nutrients with a joint species distribution model.
Dispersal limitation and soil niche partitioning drove considerable variation in the composition of plant communities at local and landscape scales. The relative contribution of these two ecological processes changed with scale (local vs. landscape) and topography (lower slope vs. upper slope plots). At the species level, significant abundance–soil fertility associations were mostly positive. Most species became less responsive to soil nutrients over the first few decades of tropical forest succession, probably because light became the main limiting resource in older forests.
Synthesis. Our key finding is that spatial heterogeneity in soil resources and spatial distance jointly drive compositional variation within and across early successional forests. Our results highlight that a network of forest fragments enhances the resilience of ecological processes and the potential of secondary forests to restore and preserve biodiversity in human‐modified landscapes. To advance our understanding of ecological succession, we need to move beyond single‐factor and local‐scale studies and examine the effects of multiple variables on succession at different spatial scales.
