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1. Efficient Extrinsic Self-Calibration of Multiple IMUs using Measurement Subset Selection

Author

Lee, Jongwon, Hanley, David, and Bretl, Timothy

Subjects
Computer Science - Robotics
Abstract

This paper addresses the problem of choosing a sparse subset of measurements for quick calibration parameter estimation. A standard solution to this is selecting a measurement only if its utility -- the difference between posterior (with the measurement) and prior information (without the measurement) -- exceeds some threshold. Theoretically, utility, a function of the parameter estimate, should be evaluated at the estimate obtained with all measurements selected so far, hence necessitating a recalibration with each new measurement. However, we hypothesize that utility is insensitive to changes in the parameter estimate for many systems of interest, suggesting that evaluating utility at some initial parameter guess would yield equivalent results in practice. We provide evidence supporting this hypothesis for extrinsic calibration of multiple inertial measurement units (IMUs), showing the reduction in calibration time by two orders of magnitude by forgoing recalibration for each measurement., Comment: Accepted at the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024)

Published
2024

2. Comparative Study of Visual SLAM-Based Mobile Robot Localization Using Fiducial Markers

Author

Lee, Jongwon, Choi, Su Yeon, Hanley, David, and Bretl, Timothy

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Abstract

This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i.e., square-shaped artificial landmarks with a black-and-white grid pattern): SLAM, SLAM with a prior map, and localization with a prior map. The reason for comparing the SLAM-based approaches leveraging fiducial markers is because previous work has shown their superior performance over feature-only methods, with less computational burden compared to methods that use both feature and marker detection without compromising the localization performance. The evaluation is conducted using indoor image sequences captured with a hand-held camera containing multiple fiducial markers in the environment. The performance metrics include absolute trajectory error and runtime for the optimization process per frame. In particular, for the last two modes (SLAM and localization with a prior map), we evaluate their performances by perturbing the quality of prior map to study the extent to which each mode is tolerant to such perturbations. Hardware experiments show consistent trajectory error levels across the three modes, with the localization mode exhibiting the shortest runtime among them. Yet, with map perturbations, SLAM with a prior map maintains performance, while localization mode degrades in both aspects., Comment: IEEE 2023 IROS Workshop "Closing the Loop on Localization". For more information, see https://oravus.github.io/vpr-workshop/index

Published
2023

3. Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories

Author

Lee, Jongwon, Hanley, David, and Bretl, Timothy

Subjects
Computer Science - Robotics
Abstract

We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to prescribe the trajectory. Our method is based on solving a nonlinear least-squares problem that penalizes inconsistency between measurements from pairs of IMUs. We validate our method with experiments both in simulation and in hardware. In particular, we show that it meets or exceeds the performance -- in terms of error, success rate, and computation time -- of an existing, state-of-the-art method that does not rely only on IMU measurements and instead requires the use of a camera and a fiducial marker. We also show that the performance of our method is largely insensitive to the choice of trajectory along which IMU measurements are collected., Comment: RA-L with ICRA 2022

Published
2022
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4. Using Online Implicit Association Tests in Opinion Polling

Author

Smeaton, Alan, Lee, Hyowon, Morris, Niamh, and Hanley, David

Subjects
Computer Science - Computers and Society
Abstract

Opinion polls have now become a very important component of society because they are now a defacto component of our daily news cycle and because their results influence governments and business in ways which are not always obvious to us. However, polling is not always accurate and there have been some really inaccurate polling results which have had major influences on the world going back to the 1930s but also as recently as just the last 3 or 4 years. In this paper we analyse the phenomenon of socially desirable responding (shy voters) which has emerged as one of the reasons for modern day inaccurate polling. We describe how it can be exposed through implicit association tests (IATs) and we demonstrate the shy voter effect in a small survey on opinions in Ireland towards the United Kingdom. We argue for inclusion of IATs in traditional polling and point to the fact that these can be conducted accurately online, which also allows polling to reach a larger and more diverse sample of respondents in the days of Covid-19 restrictions which restricts the opportunities for poll sampling from the general public., Comment: 17 pages, 8 figures, 3 tables

Published
2020

5. Fracture risk based on high-resolution peripheral quantitative computed tomography measures does not vary with age in older adults—the bone microarchitecture international consortium prospective cohort study

Author

Szulc, Pawel, primary, Dufour, Alyssa B, additional, Hannan, Marian T, additional, Kiel, Douglas P, additional, Chapurlat, Roland, additional, Sornay-Rendu, Elisabeth, additional, Merle, Blandine, additional, Boyd, Steven K, additional, Whittier, Danielle E, additional, Hanley, David A, additional, Goltzman, David, additional, Wong, Andy Kin On, additional, Lespessailles, Eric, additional, Khosla, Sundeep, additional, Ferrari, Serge, additional, Biver, Emmanuel, additional, Bouxsein, Mary L, additional, and Samelson, Elizabeth J, additional

Published
2024
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6. Conceptualising disability in the workplace : contextualising the responses of managers and employees

Author

Hanley, David

Subjects
658, H Social Sciences (General)
Abstract

This research explores how staff and managers conceptualise disabled people within the work setting. Despite anti-discriminatory legislation and government support schemes disabled people remain disadvantaged in terms of employment. The development of the social model of disability has challenged traditional concepts of disability. At the same time the disability movement has sought equality, including within employment. A key factor in the employment disadvantage of disabled people is held to be the discriminatory attitudes of employers and staff. This research presents a case study of managers and staff within a commercial organisation. To support the data analysis an analytical framework has been developed, utilising existing literature and grounded in Critical Systems Heuristics. The framework identifies different rationalities staff could hold in conceptualising disability within the workplace. A qualitative approach is used, generating rich data around the concepts the study group hold about disability and disabled people in the workplace. The analysis highlights that people hold ambivalent attitudes to disabled people within the workplace. Whilst generally sympathetic to the idea of greater numbers of disabled people in the workplace, they hold specific ideas that act as barriers to achieving this. These include conceptualising disabled people as less capable, anxieties over the impact on co-workers, and viewing work as generally fixed. This thinking is underpinned by how many people conceptualise work as competitive at an organisational and individual level and their perceptions of fairness, requiring disabled people to fit into work and not be treated radically differently to other workers. Rationality over disability and work is conflicted, with general sympathies over disability conflicting with anxieties over the actuality of disabled people in the workplace. It is argued that individuals rationalise this conflicted thinking by conceptualising disabled workers differently to disabled people. This is seen as significant in determining what is held as reasonable when accommodating disabled people, so becoming a driver of the overall approach to disability within the organisation. The research offers an original contribution to knowledge in terms of offering new insights about disability and employment. The research offers a new analytical framework based on rationality and a potential contribution to policy on disability and employment.

Published
2014

8. A Fracture Risk Assessment Tool for High Resolution Peripheral Quantitative Computed Tomography

Author

Whittier, Danielle E., primary, Samelson, Elizabeth J., additional, Hannan, Marian T., additional, Burt, Lauren A., additional, Hanley, David A., additional, Biver, Emmanuel, additional, Szulc, Pawel, additional, Sornay‐Rendu, Elisabeth, additional, Merle, Blandine, additional, Chapurlat, Roland, additional, Lespessailles, Eric, additional, Wong, Andy Kin On, additional, Goltzman, David, additional, Khosla, Sundeep, additional, Ferrari, Serge, additional, Bouxsein, Mary L., additional, Kiel, Douglas P., additional, and Boyd, Steven K., additional

Published
2023
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12. Bone Microarchitecture Phenotypes Identified in Older Adults Are Associated With Different Levels of Osteoporotic Fracture Risk

Author

Whittier, Danielle E, primary, Samelson, Elizabeth J, additional, Hannan, Marian T, additional, Burt, Lauren A, additional, Hanley, David A, additional, Biver, Emmanuel, additional, Szulc, Pawel, additional, Sornay‐Rendu, Elisabeth, additional, Merle, Blandine, additional, Chapurlat, Roland, additional, Lespessailles, Eric, additional, Wong, Andy Kin On, additional, Goltzman, David, additional, Khosla, Sundeep, additional, Ferrari, Serge, additional, Bouxsein, Mary L, additional, Kiel, Douglas P, additional, and Boyd, Steven K, additional

Published
2022
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13. Reply to

Author

Bliuc, Dana, Tran, Thach, Adachi, Jonathan D, Atkins, Gerald J, Berger, Claudie, van den Bergh, Joop, Cappai, Roberto, Eisman, John A, van Geel, Tineke, Geusens, Piet, Goltzman, David, Hanley, David A, Josse, Robert, Kaiser, Stephanie, Kovacs, Christopher S, Langsetmo, Lisa, Prior, Jerilynn C, Nguyen, Tuan V, Solomon, Lucian B, Stapledon, Catherine, Center, Jacqueline R, Interne Geneeskunde, and RS: NUTRIM - R3 - Respiratory & Age-related Health

Subjects
Bone Diseases, Metabolic, Fractures, Bone, Endocrinology, Diabetes and Metabolism, Humans, Cognitive Dysfunction, Orthopedics and Sports Medicine, Cholinergic Antagonists
Published
2022

16. Romosozumab Enhances Vertebral Bone Structure in Women With Low Bone Density

Author

Poole, Kenneth ES, primary, Treece, Graham M, additional, Pearson, Rose A, additional, Gee, Andrew H, additional, Bolognese, Michael A, additional, Brown, Jacques P, additional, Goemaere, Stefan, additional, Grauer, Andreas, additional, Hanley, David A, additional, Mautalen, Carlos, additional, Recknor, Chris, additional, Yang, Yu‐Ching, additional, Rojeski, Maria, additional, Libanati, Cesar, additional, and Whitmarsh, Tristan, additional

Published
2021
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20. Is There Regional Variation in the SF-36 Scores of Canadian Adults?

Author

Hopman, Wilma M., Berger, Claudie, Joseph, Lawrence, Towheed, Tanveer, Anastassiades, Tassos, Tenenhouse, Alan, Poliquin, Suzette, Brown, Jacques P., Murray, Timothy M., Adachi, Jonathan D., Hanley, David A., and Papadimitropoulos, Emmanuel A.

Published
2002

21. Stability of Normative Data for the SF-36: Results of a Three-year Prospective Study in Middle-aged Canadians

Author

Hopman, Wilma M., Berger, Claudie, Joseph, Lawrence, Towheed, Tanveer, vandenKerkhof, Elizabeth, Anastassiades, Tassos, Cranney, Ann, Adachi, Jonathan D., Ioannidis, George, Poliquin, Suzette, Brown, Jacques P., Murray, Timothy M., Hanley, David A., Papadimitropoulos, Emmanuel A., Tenenhouse, Alan, Poliquin, Suzette, Godmaire, Suzanne, Joseph, Lawrence, Berger, Claudie, Joyce, Carol, Sheppard, Emma, Kirkland, Susan, Kaiser, Stephanie, Stanfield, Barbara, Brown, Jacques P., Lejeune, Evelyne, Anastassiades, Tassos, Matthews, Barbara, Kreiger, Nancy, Murray, Timothy M., Gardner-Bray, Barbara, Adachi, Jonathan D., Pickard, Laura, Olszynski, Wojciech P., Thingvold, Jola, Hanley, David A., Allan, Jane, Siminoski, Kerry, Prior, Jerilynn C., Lentle, Brian, and Vigna, Yvette

Published
2004
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32. A Risk Assessment Tool for Predicting Fragility Fractures and Mortality in the Elderly

Author

Tran, Thach, Tran, Thach, Bliuc, Dana, Pham, Hanh M., van Geel, Tineke, Adachi, Jonathan D., Berger, Claudie, van den Bergh, Joop, Eisman, John A., Geusens, Piet, Goltzman, David, Hanley, David A., Josse, Robert G., Kaiser, Stephanie M., Kovacs, Christopher S., Langsetmo, Lisa, Prior, Jerilynn C., Nguyen, Tuan, Center, Jacqueline R., CaMOS Res Grp, Tran, Thach, Tran, Thach, Bliuc, Dana, Pham, Hanh M., van Geel, Tineke, Adachi, Jonathan D., Berger, Claudie, van den Bergh, Joop, Eisman, John A., Geusens, Piet, Goltzman, David, Hanley, David A., Josse, Robert G., Kaiser, Stephanie M., Kovacs, Christopher S., Langsetmo, Lisa, Prior, Jerilynn C., Nguyen, Tuan, Center, Jacqueline R., and CaMOS Res Grp

Abstract

Existing fracture risk assessment tools are not designed to predict fracture-associated consequences, possibly contributing to the current undermanagement of fragility fractures worldwide. We aimed to develop a risk assessment tool for predicting the conceptual risk of fragility fractures and its consequences. The study involved 8965 people aged >= 60 years from the Dubbo Osteoporosis Epidemiology Study and the Canadian Multicentre Osteoporosis Study. Incident fracture was identified from X-ray reports and questionnaires, and death was ascertained though contact with a family member or obituary review. We used a multistate model to quantify the effects of the predictors on the transition risks to an initial and subsequent incident fracture and mortality, accounting for their complex interrelationships, confounding effects, and death as a competing risk. There were 2364 initial fractures, 755 subsequent fractures, and 3300 deaths during a median follow-up of 13 years (interquartile range [IQR] 7-15). The prediction model included sex, age, bone mineral density, history of falls within 12 previous months, prior fracture after the age of 50 years, cardiovascular diseases, diabetes mellitus, chronic pulmonary diseases, hypertension, and cancer. The model accurately predicted fragility fractures up to 11 years of follow-up and post-fracture mortality up to 9 years, ranging from 7 years after hip fractures to 15 years after non-hip fractures. For example, a 70-year-old woman with aT-score of -1.5 and without other risk factors would have 10% chance of sustaining a fracture and an 8% risk of dying in 5 years. However, after an initial fracture, her risk of sustaining another fracture or dying doubles to 33%, ranging from 26% after a distal to 42% post hip fracture. A robust statistical technique was used to develop a prediction model for individualization of progression to fracture and its consequences, facilitating informed decision making about risk and thus treatm

Published
2020

34. Vitamin D insufficiency in North America

Author

Hanley, David A. and Davison, K. Shawn

Subjects
Osteoporosis -- Research, Osteomalacia -- Research, Vitamin D deficiency -- Research, Food/cooking/nutrition
Abstract

Vitamin D insufficiency is a term that has been used to describe the finding of biochemical evidence of deficiency, without obvious clinical signs or symptoms, such as rickets or osteomalacia. The condition is most commonly diagnosed by a serum 25-hydroxyvitamin D below 40 nmol/L (16 [micro]g/L). This paper reviews North American studies addressing the prevalence of the problem, and the growing body of evidence that vitamin D insufficiency predisposes individuals to poor bone and muscle health. The term insufficiency is somewhat misleading, as patients with this condition are really just part of the spectrum of vitamin D deficiency. If the more generous definition of this condition is used (serum 25-hydroxyvitamin D < 80 nmol/L), a much larger proportion of the population has the problem. The response to vitamin D supplementation in clinical trials suggests current recommendations for dietary intake of this vitamin are too low and that a higher adequate intake should be recommended. KEY WORDS: * vitamin D * rickets * osteomalacia * osteoporosis * 25-hydroxyvitamin D

Published
2005

36. Meta-analysis of genome-wide studies identifies MEF2C SNPs associated with bone mineral density at forearm

Author

Zheng, Hou-Feng, Duncan, Emma L, Yerges-Armstrong, Laura M, Eriksson, Joel, Bergström, Ulrica, Leo, Paul J, Leslie, William D, Goltzman, David, Blangero, John, Hanley, David A, Carless, Melanie A, Streeten, Elizabeth A, Lorentzon, Mattias, Brown, Matthew A, Spector, Tim D, Pettersson-Kymmer, Ulrika, Ohlsson, Claes, Mitchell, Braxton D, and Richards, J Brent

Published
2013
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37. Calcium and Vitamin D Intake and Mortality: Results from the Canadian Multicentre Osteoporosis Study (CaMos)

Author

Langsetmo, Lisa, Berger, Claudie, Kreiger, Nancy, Kovacs, Christopher S., Hanley, David A., Jamal, Sophie A., Whiting, Susan J., Genest, Jacques, Morin, Suzanne N., Hodsman, Anthony, Prior, Jerilynn C., Lentle, Brian, Patel, Millan S., Brown, Jacques P., Anastasiades, Tassos, Towheed, Tanveer, Josse, Robert G., Papaioannou, Alexandra, Adachi, Jonathan D., Leslie, William D., Davison, K. Shawn, and Goltzman, David

Published
2013

38. Romosozumab Enhances Vertebral Bone Structure in Women With Low Bone Density.

Author

Poole, Kenneth ES, Treece, Graham M, Pearson, Rose A, Gee, Andrew H, Bolognese, Michael A, Brown, Jacques P, Goemaere, Stefan, Grauer, Andreas, Hanley, David A, Mautalen, Carlos, Recknor, Chris, Yang, Yu‐Ching, Rojeski, Maria, Libanati, Cesar, and Whitmarsh, Tristan

Abstract

Romosozumab monoclonal antibody treatment works by binding sclerostin and causing rapid stimulation of bone formation while decreasing bone resorption. The location and local magnitude of vertebral bone accrual by romosozumab and how it compares to teriparatide remains to be investigated. Here we analyzed the data from a study collecting lumbar computed tomography (CT) spine scans at enrollment and 12 months post‐treatment with romosozumab (210 mg sc monthly, n = 17), open‐label daily teriparatide (20 μg sc, n = 19), or placebo (sc monthly, n = 20). For each of the 56 women, cortical thickness (Ct.Th), endocortical thickness (Ec.Th), cortical bone mineral density (Ct.bone mineral density (BMD)), cancellous BMD (Cn.BMD), and cortical mass surface density (CMSD) were measured across the first lumbar vertebral surface. In addition, color maps of the changes in the lumbar vertebrae structure were statistically analyzed and then visualized on the bone surface. At 12 months, romosozumab improved all parameters significantly over placebo and resulted in a mean vertebral Ct.Th increase of 10.3% versus 4.3% for teriparatide, an Ec.Th increase of 137.6% versus 47.5% for teriparatide, a Ct.BMD increase of 2.1% versus a −0.1% decrease for teriparatide, and a CMSD increase of 12.4% versus 3.8% for teriparatide. For all these measurements, the differences between romosozumab and teriparatide were statistically significant (p < 0.05). There was no significant difference between the romosozumab‐associated Cn.BMD gains of 22.2% versus 18.1% for teriparatide, but both were significantly greater compared with the change in the placebo group (−4.6%, p < 0.05). Cortical maps showed the topographical locations of the increase in bone in fracture‐prone areas of the vertebral shell, walls, and endplates. This study confirms widespread vertebral bone accrual with romosozumab or teriparatide treatment and provides new insights into how the rapid prevention of vertebral fractures is achieved in women with osteoporosis using these anabolic agents. © 2021 The Authors. Journal of Bone and Mineral Research published by Wiley Periodicals LLC on behalf of American Society for Bone and Mineral Research (ASBMR). [ABSTRACT FROM AUTHOR]

Published
2022
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43. A cis-regulatory map of the Drosophila genome

Author

Nègre, Nicolas, Brown, Christopher D., Ma, Lijia, Bristow, Christopher Aaron, Miller, Steven W., Wagner, Ulrich, Kheradpour, Pouya, Eaton, Matthew L., Loriaux, Paul, Sealfon, Rachel, Li, Zirong, Ishii, Haruhiko, Spokony, Rebecca F., Chen, Jia, Hwang, Lindsay, Cheng, Chao, Auburn, Richard P., Davis, Melissa B., Domanus, Marc, Shah, Parantu K., Morrison, Carolyn A., Zieba, Jennifer, Suchy, Sarah, Senderowicz, Lionel, Victorsen, Alec, Bild, Nicholas A., Grundstad, Jason A., Hanley, David, MacAlpine, David M., Mannervik, Mattias, Venken, Koen, Bellen, Hugo, White, Robert, Gerstein, Mark, Russell, Steven, Grossman, Robert L., Ren, Bing, Posakony, James W., Kellis, Manolis, and White, Kevin P.

Published
2011
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46. Vertebral Fractures: Which Radiological Criteria Are Better Associated With the Clinical Course of Osteoporosis?

Author

Lentle, Brian C., primary, Berger, Claudie, additional, Brown, Jacques P., additional, Probyn, Linda, additional, Langsetmo, Lisa, additional, Hammond, Ian, additional, Hu, Jeff, additional, Leslie, William D., additional, Prior, Jerilynn C., additional, Hanley, David A., additional, Adachi, Jonathan D., additional, Josse, Robert G., additional, Cheung, Angela M., additional, Kaiser, Stephanie M., additional, Towheed, Tanveer, additional, Kovacs, Christopher S., additional, Wong, Andy Kin On, additional, and Goltzman, David, additional

Published
2020
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