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6. Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning

Author

Bentley, Michael, Rucker, Caleb, and Kuntz, Alan

Subjects
Computer Science - Robotics
Abstract

Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions in the human body. Planning motions safely within constrained anatomical environments requires accuracy and efficiency in shape estimation and collision checking. Tendon robots that employ arbitrarily-routed tendons can achieve complex and interesting shapes, enabling them to travel to difficult-to-reach anatomical regions. Arbitrarily-routed tendon-driven robots have unintuitive nonlinear kinematics. Therefore, we envision clinicians leveraging an assistive interactive-rate motion planner to automatically generate collision-free trajectories to clinician-specified destinations during minimally-invasive surgical procedures. Standard motion-planning techniques cannot achieve interactive-rate motion planning with the current expensive tendon robot kinematic models. In this work, we present a 3-phase motion-planning system for arbitrarily-routed tendon-driven robots with a Precompute phase, a Load phase, and a Supervisory Control phase. Our system achieves an interactive rate by developing a fast kinematic model (over 1,000 times faster than current models), a fast voxel collision method (27.6 times faster than standard methods), and leveraging a precomputed roadmap of the entire robot workspace with pre-voxelized vertices and edges. In simulated experiments, we show that our motion-planning method achieves high tip-position accuracy and generates plans at 14.8 Hz on average in a segmented collapsed lung pleural space anatomical environment. Our results show that our method is 17,700 times faster than popular off-the-shelf motion planning algorithms with standard FK and collision detection approaches. Our open-source code is available online., Comment: 21 pages, 11 figures, preprint of the accepted version to IEEE Access published in July 2022; copyright retained by the authors

Published
2022
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8. Stratified analyses refine association between TLR7 rare variants and severe COVID-19

Author

Rimoldi, Valeria, Paraboschi, Elvezia M., Bandera, Alessandra, Peyvandi, Flora, Grasselli, Giacomo, Blasi, Francesco, Malvestiti, Francesco, Pelusi, Serena, Bianco, Cristiana, Miano, Lorenzo, Lombardi, Angela, Invernizzi, Pietro, Gerussi, Alessio, Citerio, Giuseppe, Biondi, Andrea, Valsecchi, Maria Grazia, Cazzaniga, Marina Elena, Foti, Giuseppe, Beretta, Ilaria, D'Angiò, Mariella, Bettini, Laura Rachele, Farré, Xavier, Iraola-Guzmán, Susana, Kogevinas, Manolis, Castaño-Vinyals, Gemma, Garcia-Etxebarria, Koldo, Nafria, Beatriz, D'Amato, Mauro, Palom, Adriana, Begg, Colin, Clohisey, Sara, Hinds, Charles, Horby, Peter, Knight, Julian, Ling, Lowell, Maslove, David, McAuley, Danny, Millar, Johnny, Montgomery, Hugh, Nichol, Alistair, Openshaw, Peter J.M., Pereira, Alexandre C., Ponting, Chris P., Rowan, Kathy, Semple, Malcolm G., Shankar-Hari, Manu, Summers, Charlotte, Walsh, Timothy, Baillie, J. Kenneth, Aravindan, Latha, Armstrong, Ruth, Biggs, Heather, Boz, Ceilia, Brown, Adam, Clark, Richard, Coutts, Audrey, Coyle, Judy, Cullum, Louise, Das, Sukamal, Day, Nicky, Donnelly, Lorna, Duncan, Esther, Fawkes, Angie, Fineran, Paul, Fourman, Max Head, Furlong, Anita, Furniss, James, Gallagher, Bernadette, Gilchrist, Tammy, Golightly, Ailsa, Griffiths, Fiona, Hafezi, Katarzyna, Hamilton, Debbie, Hendry, Ross, Law, Andy, Law, Dawn, Law, Rachel, Law, Sarah, Lidstone-Scott, Rebecca, Macgillivray, Louise, Maclean, Alan, Mal, Hanning, McCafferty, Sarah, Mcmaster, Ellie, Meikle, Jen, Moore, Shona C., Morrice, Kirstie, Murphy, Lee, Murphy, Sheena, Hellen, Mybaya, Oosthuyzen, Wilna, Zheng, Chenqing, Chen, Jiantao, Parkinson, Nick, Paterson, Trevor, Schon, Katherine, Stenhouse, Andrew, Das, Mihaela, Swets, Maaike, Szoor-McElhinney, Helen, Taneski, Filip, Turtle, Lance, Wackett, Tony, Ward, Mairi, Weaver, Jane, Wrobel, Nicola, Zechner, Marie, Arbane, Gill, Bociek, Aneta, Campos, Sara, Grau, Neus, Jones, Tim Owen, Lim, Rosario, Marotti, Martina, Ostermann, Marlies, Whitton, Christopher, Alldis, Zoe, Astin-Chamberlain, Raine, Bibi, Fatima, Biddle, Jack, Blow, Sarah, Bolton, Matthew, Borra, Catherine, Bowles, Ruth, Burton, Maudrian, Choudhury, Yasmin, Collier, David, Cox, Amber, Easthope, Amy, Ebano, Patrizia, Fotiadis, Stavros, Gurasashvili, Jana, Halls, Rosslyn, Hartridge, Pippa, Kallon, Delordson, Kassam, Jamila, Lancoma-Malcolm, Ivone, Matharu, Maninderpal, May, Peter, Mitchelmore, Oliver, Newman, Tabitha, Patel, Mital, Pheby, Jane, Pinzuti, Irene, Prime, Zoe, Prysyazhna, Oleksandra, Shiel, Julian, Taylor, Melanie, Tierney, Carey, Wood, Suzanne, Zak, Anne, Zongo, Olivier, Bonner, Stephen, Hugill, Keith, Jones, Jessica, Liggett, Steven, Headlam, Evie, Bandla, Nageswar, Gellamucho, Minnie, Davies, Michelle, Thompson, Christopher, Abdelrazik, Marwa, Bakthavatsalam, Dhanalakshmi, Elhassan, Munzir, Ganesan, Arunkumar, Haldeos, Anne, Moreno-Cuesta, Jeronimo, Purohit, Dharam, 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Deacon, Bethan, Lynch, Ceri, Pothecary, Carla, Roche, Lisa, Howe, Gwenllian Sera, Singh, Jayaprakash, Turner, Keri, Ellis, Hannah, Stroud, Natalie, Hunt, Jodie, Dearden, Joy, Dobson, Emma, Drummond, Andy, Mulcahy, Michelle, Munt, Sheila, O'Connor, Grainne, Philbin, Jennifer, Rishton, Chloe, Tully, Redmond, Winnard, Sarah, Cathcart, Susanne, Duffy, Katharine, Puxty, Alex, Puxty, Kathryn, Turner, Lynne, Ireland, Jane, Semple, Gary, Long, Kate, Whiteley, Simon, Wilby, Elizabeth, Ogg, Bethan, Cowton, Amanda, Kay, Andrea, Kent, Melanie, Potts, Kathryn, Wilkinson, Ami, Campbell, Suzanne, Brown, Ellen, Melville, Julie, Naisbitt, Jay, Joseph, Rosane, Lazo, Maria, Walton, Olivia, Neal, Alan, Alexander, Peter, Allen, Schvearn, Bradley-Potts, Joanne, Brantwood, Craig, Egan, Jasmine, Felton, Timothy, Padden, Grace, Ward, Luke, Moss, Stuart, Glasgow, Susannah, Abel, Lynn, Brett, Michael, Digby, Brian, Gemmell, Lisa, Hornsby, James, MacGoey, Patrick, O'Neil, Pauline, Price, Richard, Rodden, Natalie, 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Sarah, Wakinshaw, Fiona, Rogerson, Kimberley, Jarmain, Jordan, Parker, Robert, Reddy, Amie, Turner-Bone, Ian, Wilding, Laura, Harding, Peter, Abernathy, Caroline, Foster, Louise, Gratrix, Andrew, Martinson, Vicky, Parkinson, Priyai, Stones, Elizabeth, Carbral-Ortega, Llucia, Bercades, Georgia, Brealey, David, Hass, Ingrid, MacCallum, Niall, Martir, Gladys, Raith, Eamon, Reyes, Anna, Smyth, Deborah, Zitter, Letizia, Benyon, Sarah, Marriott, Suzie, Park, Linda, Keenan, Samantha, Gordon, Elizabeth, Quinn, Helen, Baines, Kizzy, Cagova, Lenka, Fofano, Adama, Garner, Lucie, Holcombe, Helen, Mepham, Sue, Mitchell, Alice Michael, Mwaura, Lucy, Praman, Krithivasan, Vuylsteke, Alain, Zamikula, Julie, Purewal, Bally, Rivers, Vanessa, Bell, Stephanie, Blakemore, Hayley, Borislavova, Borislava, Faulkner, Beverley, Gendall, Emma, Goff, Elizabeth, Hayes, Kati, Thomas, Matt, Worner, Ruth, Smith, Kerry, Stephens, Deanna, Mew, Louise, Mwaura, Esther, Stewart, Richard, Williams, Felicity, Wren, Lynn, Sutherland, Sara-Beth, Bevan, Emily, Martin, Jane, Trodd, Dawn, Watson, Geoff, Brown, Caroline Wrey, Collins, Amy, Khaliq, Waqas, Gude, Estefania Treus, Akinkugbe, Olugbenga, Bamford, Alasdair, Beech, Emily, Belfield, Holly, Bell, Michael, Davies, Charlene, Jones, Gareth A.L., McHugh, Tara, Meghari, Hamza, O'Neill, Lauran, Peters, Mark J., Ray, Samiran, Tomas, Ana Luisa, Burn, Iona, Hambrook, Geraldine, Manso, Katarina, Penn, Ruth, Shanmugasundaram, Pradeep, Tebbutt, Julie, Thornton, Danielle, Cole, Jade, Davies, Rhys, Duffin, Donna, Hill, Helen, Player, Ben, Thomas, Emma, Williams, Angharad, Griffin, Denise, Muchenje, Nycola, Mupudzi, Mcdonald, Partridge, Richard, Conyngham, Jo-Anna, Thomas, Rachel, Wright, Mary, Corral, Maria Alvarez, Jacob, Reni, Jones, Cathy, Denmade, Craig, Beavis, Sarah, Dale, Katie, Gascoyne, Rachel, Hawes, Joanne, Pritchard, Kelly, Stevenson, Lesley, Whileman, Amanda, Doble, Patricia, Hutter, Joanne, Pawley, Corinne, Shovelton, Charmaine, Vaida, Marius, 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Sam, Dance, Annalisa, Gledhill, Lisa, Greig, Jill, Hanson, Kathryn, Holdroyd, Kelly, Home, Marie, Kelly, Diane, Kitson, Ross, Matapure, Lear, Melia, Deborah, Mellor, Samantha, Nortcliffe, Tonicha, Pinnell, Jez, Robinson, Matthew, Shaw, Lisa, Shaw, Ryan, Thomis, Lesley, Wilson, Alison, Wood, Tracy, Bayo, Lee-Ann, Merwaha, Ekta, Ishaq, Tahira, Hanley, Sarah, Hibbert, Meg, Tetla, Dariusz, Woodford, Chrsitopher, Durga, Latha, Kennard-Holden, Gareth, Branney, Debbie, Frankham, Jordan, Pitts, Sally, White, Nigel, Laha, Shondipon, Verlander, Mark, Williams, Alexandra, Altabaibeh, Abdelhakim, Alvaro, Ana, Gilbert, Kayleigh, Ma, Louise, Mostoles, Loreta, Parmar, Chetan, Simpson, Kathryn, Jetha, Champa, Booker, Lauren, Pratley, Anezka, Adams, Colene, Agasou, Anita, Arden, Tracie, Bowes, Amy, Boyle, Pauline, Beekes, Mandy, Button, Heather, Capps, Nigel, Carnahan, Mandy, Carter, Anne, Childs, Danielle, Donaldson, Denise, Hard, Kelly, Hurford, Fran, Hussain, Yasmin, Javaid, Ayesha, Jones, James, 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Demetriou, Carrie, Eckbad, Charlotte, Hierons, Sarah, Howie, Lucy, Mitchard, Sarah, Ramos, Lidia, Serrano-Ruiz, Alfredo, White, Katie, Kelly, Fiona, Cristiano, Daniele, Dormand, Natalie, Farzad, Zohreh, Gummadi, Mahitha, Liyanage, Kamal, Patel, Brijesh, Salmi, Sara, Sloane, Geraldine, Thwaites, Vicky, Varghese, Mathew, Zborowski, Anelise C., Allan, John, Geary, Tim, Houston, Gordon, Meikle, Alistair, O'Brien, Peter, Forsey, Miranda, Kaliappan, Agilan, Nicholson, Anne, Riches, Joanne, Vertue, Mark, Allan, Elizabeth, Darlington, Kate, Davies, Ffyon, Easton, Jack, Kumar, Sumit, Lean, Richard, Menzies, Daniel, Pugh, Richard, Qiu, Xinyi, Davies, Llinos, Williams, Hannah, Scanlon, Jeremy, Davies, Gwyneth, Mackay, Callum, Lewis, Joannne, Rees, Stephanie, Oblak, Metod, Popescu, Monica, Thankachen, Mini, Higham, Andrew, Simpson, Kerry, Craig, Jayne, Baruah, Rosie, Morris, Sheila, Ferguson, Susie, Shepherd, Amy, Prockter Moore, Luke Stephen, Vizcaychipi, Marcela Paola, Gomes de Almeida Martins, Laura, Carungcong, Jaime, Mohamed Ali, Inthakab Ali, Beaumont, Karen, Blunt, Mark, Coton, Zoe, Curgenven, Hollie, Elsaadany, Mohamed, Fernandes, Kay, Ally, Sameena Mohamed, Rangarajan, Harini, Sarathy, Varun, Selvanayagam, Sivarupan, Vedage, Dave, White, Matthew, Gill, Mandy, Paul, Paul, Ratnam, Valli, Shelton, Sarah, Wynter, Inez, Carmody, Siobhain, Page, Valerie Joan, Beith, Claire Marie, Black, Karen, Clements, Suzanne, Morrison, Alan, Strachan, Dominic, Taylor, Margaret, Clarkson, Michelle, D'Sylva, Stuart, Norman, Kathryn, Auld, Fiona, Donnachie, Joanne, Edmond, Ian, Prentice, Lynn, Runciman, Nikole, Salutous, Dario, Symon, Lesley, Todd, Anne, Turner, Patricia, Short, Abigail, Sweeney, Laura, Murdoch, Euan, Senaratne, Dhaneesha, Hill, Michaela, Kannan, Thogulava, Laura, Wild, Crawley, Rikki, Crew, Abigail, Cunningham, Mishell, Daniels, Allison, Harrison, Laura, Hope, Susan, Inweregbu, Ken, Jones, Sian, Lancaster, Nicola, Matthews, Jamie, Nicholson, Alice, Wray, Gemma, Langton, Helen, Prout, Rachel, Watters, Malcolm, Novis, Catherine, Barron, Anthony, Collins, Ciara, Kaul, Sundeep, Passmore, Heather, Prendergast, Claire, Reed, Anna, Rogers, Paula, Shokkar, Rajvinder, Woodruff, Meriel, Middleton, Hayley, Polgar, Oliver, Nolan, Claire, Mahay, Kanta, Collier, Dawn, Hormis, Anil, Maynard, Victoria, Graham, Cheryl, Walker, Rachel, Knights, Ellen, Price, Alicia, Thomas, Alice, Thorpe, Chris, Behan, Teresa, Burnett, Caroline, Hatton, Jonathan, Heeney, Elaine, Mitra, Atideb, Newton, Maria, Pollard, Rachel, Stead, Rachael, Amin, Vishal, Anastasescu, Elena, Anumakonda, Vikram, Karthik, Komala, Kausar, Rizwana, Reid, Karen, Smith, Jacqueline, Imeson-Wood, Janet, Skinner, Denise, Gaylard, Jane, Mullan, Dee, Newman, Julie, Brown, Alison, Crickmore, Vikki, Debreceni, Gabor, Wilkins, Joy, Nicol, Liz, Reece-Anthony, Rosie, Birt, Mark, Ghosh, Alison, Williams, Emma, Allen, Louise, Beranova, Eva, Crisp, Nikki, Deery, Joanne, Hazelton, Tracy, Knight, Alicia, Price, Carly, Tilbey, Sorrell, Turki, Salah, Turney, Sharon, Cooper, Joshua, Finch, Cheryl, Liderth, Sarah, Quinn, Alison, Waddington, Natalia, Coventry, Tina, Fowler, Susan, MacMahon, Michael, McGregor, Amanda, Cowley, Anne, Highgate, Judith, Gregory, Jane, O'Connell, Susan, Smith, Tim, Barberis, Luigi, Gopal, Shameer, Harris, Nichola, Lake, Victoria, Metherell, Stella, Radford, Elizabeth, Daniel, Amelia, Finn, Joanne, Saha, Rajnish, White, Nikki, Donnison, Phil, Trim, Fiona, Eapen, Beena, Birch, Jenny, Bough, Laura, Goodsell, Josie, Tutton, Rebecca, Williams, Patricia, Williams, Sarah, Winter-Goodwin, Barbara, Nichol, Ailstair, Brickell, Kathy, Smyth, Michelle, Murphy, Lorna, Coetzee, Samantha, Gales, Alistair, Otahal, Igor, Raj, Meena, Sell, Craig, Hilltout, Paula, Evitts, Jayne, Tyler, Amanda, Waldron, Joanne, Beesley, Kate, Board, Sarah, Kubisz-Pudelko, Agnieszka, Lewis, Alison, Perry, Jess, Pippard, Lucy, Wood, Di, Buckley, Clare, Barry, Peter, Flint, Neil, Rekha, Patel, Hales, Dawn, Bunni, Lara, Jennings, Claire, Latif, Monica, Marshall, Rebecca, Subramanian, Gayathri, McGuigan, Peter J., Wasson, Christopher, Finn, Stephanie, Green, Jackie, Collins, Erin, King, Bernadette, Campbell, Andy, Smuts, Sara, Duffield, Joseph, Smith, Oliver, Mallon, Lewis, Claire, Watkins, Botfield, Liam, Butler, Joanna, Dexter, Catherine, Fletcher, Jo, Garg, Atul, Kuravi, Aditya, Ranga, Poonam, Virgilio, Emma, Belagodu, Zakaula, Fuller, Bridget, Gherman, Anca, Olufuwa, Olumide, Paramsothy, Remi, Stuart, Carmel, Oakley, Naomi, Kamundi, Charlotte, Tyl, David, Collins, Katy, Silva, Pedro, Taylor, June, King, Laura, Coates, Charlotte, Crowley, Maria, Wakefield, Phillipa, Beadle, Jane, Johnson, Laura, Sargeant, Janet, Anderson, Madeleine, Brady, Ailbhe, Chan, Rebekah, Little, Jeff, McIvor, Shane, Prady, Helena, Whittle, Helen, Mathew, Bijoy, Attwood, Ben, Parsons, Penny, Ward, Geraldine, Bremmer, Pamela, Joe, West, Tracy, Baird, Jim, Ruddy, Davies, Ellie, Sathe, Sonia, Dennis, Catherine, McGregor, Alastair, Parris, Victoria, Srikaran, Sinduya, Sukha, Anisha, Clarke, Noreen, Whiteside, Jonathan, Mascarenhas, Mairi, Donaldson, Avril, Matheson, Joanna, Barrett, Fiona, O'Hara, Marianne, Okeefe, Laura, Bradley, Clare, Eastgate-Jackson, Christine, Filipe, Helder, Martin, Daniel, Maharajh, Amitaa, Garcia, Sara Mingo, Pakou, Glykeria, De Neef, Mark, Dent, Kathy, Horsley, Elizabeth, Akhtar, Muhmmad Nauman, Pearson, Sandra, Potoczna, Dorota, Spencer, Sue, Clapham, Melanie, Harper, Rosemary, Poultney, Una, Rice, Polly, Mutch, Rachel, Armstrong, Lisa, Bates, Hayley, Dooks, Emma, Farquhar, Fiona, Hairsine, Brigid, McParland, Chantal, Packham, Sophie, Bi, Rehana, Scholefield, Barney, Ashton, Lydia, George, Linsha, Twiss, Sophie, Wright, David, Chablani, Manish, Kirkby, Amy, Netherton, Kimberley, Davies, Kim, O'Brien, Linda, Omar, Zohra, Perkins, Emma, Lewis, Tracy, Sutherland, Isobel, Burns, Karen, Ben Chandler, Dr, Elliott, Kerry, Mallinson, Janine, Turnbull, Alison, Gondo, Prisca, Hadebe, Bernard, Kayani, Abdul, Masunda, Bridgett, Anderson, Taya, Hawcutt, Dan, O'Malley, Laura, Rad, Laura, Rogers, Naomi, Saunderson, Paula, Allison, Kathryn Sian, Afolabi, Deborah, Whitbread, Jennifer, Jones, Dawn, Dore, Rachael, Halkes, Matthew, Mercer, Pauline, Thornton, Lorraine, Dawson, Joy, Garrioch, Sweyn, Tolson, Melanie, Aldridge, Jonathan, Kapoor, Ritoo, Loader, David, Castle, Karen, Humphreys, Sally, Tampsett, Ruth, Mackintosh, Katherine, Ayers, Amanda, Harrison, Wendy, North, Julie, Allibone, Suzanne, Genetu, Roman, Kasipandian, Vidya, Patel, Amit, Mac, Ainhi, Murphy, Anthony, Mahjoob, Parisa, Nazari, Roonak, Worsley, Lucy, Fagan, Andrew, Bemand, Thomas, Black, Ethel, Dela Rosa, Arnold, Howle, Ryan, Jhanji, Shaman, Baikady, Ravishankar Rao, Tatham, Kate Colette, Thomas, Benjamin, Bell, Dina, Boyle, Rosalind, Douglas, Katie, Glass, Lynn, Lee, Emma, Lennon, Liz, Rattray, Austin, Taylor, Abigail, Hughes, Rachel Anne, Thomas, Helen, Rees, Alun, Duskova, Michaela, Phipps, Janet, Brooks, Suzanne, Edwards, Michelle, Quaid, Sheena, Watson, Ekaterina, Brayne, Adam, Fisher, Emma, Hunt, Jane, Jackson, Peter, Kaye, Duncan, Love, Nicholas, Parkin, Juliet, Tuckey, Victoria, Van Koutrik, Lynne, Carter, Sasha, Andrew, Benedict, Findlay, Louise, Adams, Katie, Service, Jen, Williams, Alison, Cheyne, Claire, Saunderson, Anne, Moultrie, Sam, Odam, Miranda, Hall, Kathryn, Mapfunde, Isheunesu, Willis, Charlotte, Lyon, Alex, Sri-Chandana, Chunda, Scherewode, Joslan, Stephenson, Lorraine, Marsh, Sarah, Hardy, John, Houlden, Henry, Moncur, Eleanor, Tariq, Ambreen, Tucci, Arianna, Hobrok, Maria, Loosley, Ronda, McGuinness, Heather, Tench, Helen, Wolf-Roberts, Rebecca, Irvine, Val, Shelley, Benjamin, Gorman, Claire, Gupta, Abhinav, Timlick, Elizabeth, Brady, Rebecca, Milligan, Barry, Bellini, Arianna, Bryant, Jade, Mayer, Anton, Pickard, Amy, Roe, Nicholas, Sowter, Jason, Howlett, Alex, Fidler, Katy, Tagliavini, Emma, Donnelly, Kevin, Boos, Jannik, van der Made, Caspar I., Ramakrishnan, Gayatri, Coughlan, Eamon, Asselta, Rosanna, Löscher, Britt-Sabina, Valenti, Luca V.C., de Cid, Rafael, Bujanda, Luis, Julià, Antonio, Pairo-Castineira, Erola, May, Sandra, Zametica, Berina, Heggemann, Julia, Albillos, Agustín, Banales, Jesus M., Barretina, Jordi, Blay, Natalia, Bonfanti, Paolo, Buti, Maria, Fernandez, Javier, Marsal, Sara, Prati, Daniele, Ronzoni, Luisa, Sacchi, Nicoletta, Schultze, Joachim L., Riess, Olaf, Franke, Andre, Rawlik, Konrad, Ellinghaus, David, Hoischen, Alexander, Schmidt, Axel, and Ludwig, Kerstin U.

Published
2024
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9. Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots

Author

Huang, Yixuan, Bentley, Michael, Hermans, Tucker, and Kuntz, Alan

Subjects
Computer Science - Robotics
Abstract

Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help reduce surgeon strain in the face of a rapidly growing population. However, directly encoding surgical tasks and their associated context for these robots is infeasible. In this work we take steps toward a system that is able to learn to successfully perform context-dependent surgical tasks by learning directly from a set of expert demonstrations. We present three models trained on the demonstrations conditioned on a vector encoding the context of the demonstration. We then use these models to plan and execute motions for the tendon-driven robot similar to the demonstrations for novel context not seen in the training set. We demonstrate the efficacy of our method on three surgery-inspired tasks., Comment: 7 pages, 6 figures, to be published in the proceedings of the 2021 International Symposium on Medical Robotics (ISMR)

Published
2021

12. Putting hornets on the genomic map

Author

Favreau, Emeline, Cini, Alessandro, Taylor, Daisy, Câmara Ferreira, Francisco, Bentley, Michael A., Cappa, Federico, Cervo, Rita, Privman, Eyal, Schneider, Jadesada, Thiéry, Denis, Mashoodh, Rahia, Wyatt, Christopher D. R., Brown, Robert L., Bodrug-Schepers, Alexandrina, Stralis-Pavese, Nancy, Dohm, Juliane C., Mead, Daniel, Himmelbauer, Heinz, Guigo, Roderic, and Sumner, Seirian

Published
2023
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14. Evidence for a “Little Ice Age” glacial advance within the Antarctic Peninsula – Examples from glacially-overrun raised beaches

Author

Simms, Alexander R, Bentley, Michael J, Simkins, Lauren M, Zurbuchen, Julie, Reynolds, Laura C, DeWitt, Regina, and Thomas, Elizabeth R

Subjects
Earth Sciences, Physical Geography and Environmental Geoscience, Geology, Climate Action, Neoglacial, Antarctica, Climate change, Holocene, Coast, Sea level, Shallow marine, Glacial advance, History and Archaeology, Paleontology, Earth sciences, History, heritage and archaeology
Published
2021

16. Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model

Author

Bentley, Michael, Rucker, Caleb, Reddy, Chakravarthy, Salzman, Oren, and Kuntz, Alan

Subjects
Computer Science - Robotics
Abstract

Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the body. By bending around sensitive anatomical structures, steerable needles have the potential to reduce the invasiveness of many medical procedures. However, inserting these needles with curved trajectories increases the risk of tissue damage due to perpendicular forces exerted on the surrounding tissue by the needle's shaft, potentially resulting in lateral shearing through tissue. Such forces can cause significant damage to surrounding tissue, negatively affecting patient outcomes. In this work, we derive a tissue and needle force model based on a Cosserat string formulation, which describes the normal forces and frictional forces along the shaft as a function of the planned needle path, friction model and parameters, and tip piercing force. We propose this new force model and associated cost function as a safer and more clinically relevant metric than those currently used in motion planning for steerable needles. We fit and validate our model through physical needle robot experiments in a gel phantom. We use this force model to define a bottleneck cost function for motion planning and evaluate it against the commonly used path-length cost function in hundreds of randomly generated 3-D environments. Plans generated with our force-based cost show a 62% reduction in the peak modeled tissue force with only a 0.07% increase in length on average compared to using the path-length cost in planning. Additionally, we demonstrate the ability to plan motions with our force-based cost function in a lung tumor biopsy scenario from a segmented computed tomography (CT) scan. By planning motions for the needle that aim to minimize the modeled needle-to-tissue force explicitly, our method plans needle paths that may reduce the risk of significant tissue damage while still reaching desired targets in the body., Comment: 17 pages, 12 figures, preprint of an article submitted for consideration in Journal of Medical Robotics Research (JMRR) in 2022

Published
2021

19. Multi-level analysis of compiler induced variability and performance tradeoffs

Author

Bentley, Michael, Briggs, Ian, Gopalakrishnan, Ganesh, Ahn, Dong H., Laguna, Ignacio, Lee, Gregory L., and Jones, Holger E.

Subjects
Computer Science - Software Engineering, Computer Science - Performance
Abstract

Successful HPC software applications are long-lived. When ported across machines and their compilers, these applications often produce different numerical results, many of which are unacceptable. Such variability is also a concern while optimizing the code more aggressively to gain performance. Efficient tools that help locate the program units (files and functions) within which most of the variability occurs are badly needed, both to plan for code ports and to root-cause errors due to variability when they happen in the field. In this work, we offer an enhanced version of the open-source testing framework FLiT to serve these roles. Key new features of FLiT include a suite of bisection algorithms that help locate the root causes of variability. Another added feature allows an analysis of the tradeoffs between performance and the degree of variability. Our new contributions also include a collection of case studies. Results on the MFEM finite-element library include variability/performance tradeoffs, and the identification of a (hitherto unknown) abnormal level of result-variability even under mild compiler optimizations. Results from studying the Laghos proxy application include identifying a significantly divergent floating-point result-variability and successful root-causing down to the problematic function over as little as 14 program executions. Finally, in an evaluation of 4,376 controlled injections of floating-point perturbations on the LULESH proxy application, we showed that the FLiT framework has 100 precision and recall in discovering the file and function locations of the injections all within an average of only 15 program executions., Comment: 12 pages, 11 figures, accepted in HPDC 2019

Published
2018
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21. National Service: How an Oxford college educated a ruling class

Author

Bentley, Michael

Subjects
History in the House: Some Remarkable Dons and the Teaching of Politics, Character and Statecraft (Nonfiction work) -- Davenport-Hines, Richard, Books -- Book reviews, Literature/writing
Abstract

HISTORY IN THE HOUSE Some remarkable dons and the teaching of politics, character and statecraft RICHARD DAVENPORT-HINES 432pp. William Collins. 26 [pounds sterling]. Some may find the focus a trifle [...]

Published
2024

29. Past Antarctic ice sheet dynamics (PAIS) and implications for future sea-level change

Author

Colleoni, Florence, primary, De Santis, Laura, additional, R. Naish, Tim, additional, DeConto, Robert M., additional, Escutia, Carlota, additional, Stocchi, Paolo, additional, Uenzelmann-Neben, Gabriele, additional, Hochmuth, Katharina, additional, Hillenbrand, Claus-Dieter, additional, van de Flierdt, Tina, additional, Pérez, Lara F., additional, Leitchenkov, German, additional, Sangiorgi, Francesca, additional, Jamieson, Stewart, additional, Bentley, Michael J., additional, and Wilson, David J., additional

Published
2022
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30. Extensive palaeo-surfaces beneath the Evans–Rutford region of the West Antarctic Ice Sheet control modern and past ice flow

Author

Carter, Charlotte M., Bentley, Michael J., Jamieson, Stewart S. R., Paxman, Guy J.G., Jordan, Tom A., Bodart, Julien A., Ross, Neil, Napoleoni, Felipe, Carter, Charlotte M., Bentley, Michael J., Jamieson, Stewart S. R., Paxman, Guy J.G., Jordan, Tom A., Bodart, Julien A., Ross, Neil, and Napoleoni, Felipe

Abstract

The subglacial landscape of Antarctica records and influences the behaviour of its overlying ice sheet. However, in many places, the evolution of the landscape and its control on ice sheet behaviour have not been investigated in detail. Using recently released radio-echo sounding data, we investigate the subglacial landscape of the Evans–Rutford region of West Antarctica. Following quantitative analysis of the landscape morphology under ice-loaded and ice-unloaded conditions, we identify 10 flat surfaces distributed across the region. Across these 10 surfaces, we identify two distinct populations based on clustering of elevations, which potentially represent remnants of regionally coherent pre-glacial surfaces underlying the West Antarctic Ice Sheet (WAIS). The surfaces are bounded by deeply incised glacial troughs, some of which have potential tectonic controls. We assess two hypotheses for the evolution of the regional landscape: (1) passive-margin evolution associated with the break-up of the Gondwana supercontinent or (2) an extensive planation surface that may have been uplifted in association with either the West Antarctic Rift System or cessation of subduction at the base of the Antarctic Peninsula. We suggest that passive-margin evolution is the most likely of these two mechanisms, with the erosion of glacial troughs adjacent to, and incising, the flat surfaces likely having coincided with the growth of the WAIS. These flat surfaces also demonstrate similarities to other identified surfaces, indicating that a similar formational process may have been acting more widely around the Weddell Sea embayment. The subsequent fluctuations of ice flow, basal thermal regime, and erosion patterns of the WAIS are therefore controlled by the regional tectonic structures

Published
2024

31. The dynamical systems theory of natural selection

Author

Bentley, Michael, Hein, Jotun, Foster, Kevin, Yates, Kit, and Preston, Gail

Subjects
576.8, Evolution (Biology), Evolution, Population Genetics, Dynamical systems, Kin Selection, Social evolution, Quantitative Genetics, Natural selection, Ecology, Group selection
Abstract

Darwin's (1859) theory of evolution by natural selection accounts for the adaptations of organisms, but, as Fisher (1930) famously said, 'natural selection is not evolution.' Evolutionary theory has two major components: i) natural selection, which involves the underlying dynamics of populations; and ii) adaptive evolutionary change, which involves the optimisation of phenotypes for fitness maximisation. Many of the traditional theoretical frameworks in evolutionary theory have focussed on studying optimisation processes that generate biological adaptations. In recent years, however, a number of evolutionary theorists have turned to using frameworks such as the 'replicator dynamics' or 'eco-evolutionary dynamics', to explore the dynamics of natural selection. There has, however, been little attempt to explore how these dynamical systems frameworks relate to more traditional frameworks in evolutionary theory or how they incorporate the principles that embody the process of evolution by natural selection, namely, phenotypic variation, differential reproductive success, and heritability. In this thesis, I use these principles to provide the formal foundations of a general framework - a mathematical synthesis - in which the future state of an evolutionary system can be predicted from its present state; what I will call a 'dynamical systems theory of natural selection.' Given the state of an existing biological system, and a set of assumptions about how individuals within the system interact, the job of the dynamical systems theory of natural selection is no less than to predict the future in its entirety.

Published
2016

32. Prevalence and associations of provision of nursing home visits and home visits by early‐career specialist general practitioners.

Author

Turnock, Allison, Fielding, Alison, Moad, Dominica, Blowes, Ashley, Tapley, Amanda, Davey, Andrew, Holliday, Elizabeth, Ball, Jean, Bentley, Michael, FitzGerald, Kristen, Kirby, Catherine, Spike, Neil, van Driel, Mieke L., and Magin, Parker

Subjects
HEALTH services accessibility, HOME care services, COMMUNITY health services, CROSS-sectional method, RESEARCH funding, FAMILY medicine, MEDICAL care, QUESTIONNAIRES, DESCRIPTIVE statistics, MULTIVARIATE analysis, HOSPITAL medical staff, NURSING care facilities, RURAL health services, ODDS ratio, CONFIDENCE intervals, DATA analysis software, URBAN health
Abstract

Objective: To establish prevalence and associations of provision of nursing home visits (NHV) and home visits (HV) by early‐career specialist GPs. Of particular interest were associations of rurality with performing NHVs and HVs. Methods: A cross‐sectional study. Design: A questionnaire‐based study. Setting: Australian general practice. Participants: Early‐career specialist GPs, practising in Australia, who attained Fellowship between January 2016 and July 2018, inclusive, having completed GP training in NSW, the ACT, Eastern Victoria or Tasmania. Main Outcome Measures: Current provision of NHV and HV. Results: NHV were provided by 34% of participants (59% in rural areas) and HV by 41% of participants (60% in rural areas). Remote, rural or regional practice location, as compared to major‐city practice, was strongly associated with performing NHV as an early‐career specialist GP; multivariable OR 5.87 (95% CI: 2.73, 12.6), p < 0.001, and with the provision of HV; multivariable OR 3.64 (95% CI: 1.63, 8.11), p = 0.002. Rurality of GP training (prior to attaining Fellowship) was significantly univariably associated with providing NHV and with providing HV as an early‐career specialist GP. On multivariable analyses, these were no longer statistically significant. Conclusion: Early‐career specialist GPs located in regional/remote areas are more likely than their urban colleagues to provide NHV and HV. [ABSTRACT FROM AUTHOR]

Published
2024
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39. Environmental Education in an Age of National Standards and Videophilia

Author

Bentley, Michael L.

Abstract

This article is based on the work of Louv (2005, 2008) and Lowell (2008) and their ideas are explored with regard to barriers to, as well as opportunities for, effective environmental education. State curriculum standards in the U.S. include substantial environmental education (EE) content. Despite this, overall education policy stymies educators' efforts in enacting effective classroom programs. While the education policies of every country should be reassessed in light of what scientists are telling us about the "global macroproblem," policy efforts alone will fail unless educators recognize that outdoor experience has to be a key component of a contextualized, place-based EE. Part of a rational response to environmental issues is to educate our children as to their relationship to, dependency upon, and responsibilities to their ecosystems. Addressed are the role of EE in the school curriculum and the value of addressing learners' connections to nature from a personal rather than intellectual viewpoint. (Contains 2 figures.)

Published
2010

40. List of contributors

Author

Bentley, Michael J., primary, Bijl, Peter, additional, Bostock-Lyman, Helen, additional, Bowen, Melissa, additional, Brinkuis, Henk, additional, Carter, Lionel, additional, Chorley, Hannah K., additional, Colleoni, Florence, additional, De Santis, Laura, additional, DeConto, Robert M., additional, Dickinson, Warren, additional, Dolan, Aisling M., additional, Donda, Federica, additional, Duncan, Bella, additional, Escutia, Carlota, additional, Flierdt, Tina van de, additional, Florindo, Fabio, additional, Francis, Jane, additional, Galeotti, Simone, additional, Gasson, Edward G.W., additional, Ghezzo, Claudio, additional, Gohl, Karsten, additional, Golledge, Nicholas R., additional, Gore, Damian B., additional, Grant, Georgia R., additional, Gulick, Sean, additional, H. Levy, Richard, additional, Halberstadt, Anna Ruth W., additional, Harwood, David M., additional, Hein, Andrew S., additional, Hernández-Molina, Javier, additional, Hillenbrand, Claus-Dieter, additional, Hochmuth, Katharina, additional, Hutchinson, David, additional, Jamieson, Stewart, additional, Kennedy-Asser, Alan, additional, Kim, Sookwan, additional, Kleinschmidt, Georg, additional, Kowalewski, Douglas E., additional, Kuhn, Gerhard, additional, Lanci, Luca, additional, Larter, Robert, additional, Leitchenkov, German, additional, Levy, Richard H., additional, Lewis, Adam R., additional, McKay, Robert M., additional, Meloni, Antonio, additional, Meyers, Stephen R., additional, R. Naish, Tim, additional, Ohneiser, Christian, additional, O’Brien, Phil, additional, Patterson, Molly O., additional, Pérez, Lara F., additional, Powell, Ross, additional, Sangiorgi, Francesca, additional, Santis, Laura De, additional, Sauermilch, Isabel, additional, Shevenell, Amelia E., additional, Siegert, Martin, additional, Sluijs, Appy, additional, Stocchi, Paolo, additional, Talarico, Franco, additional, Uenzelmann-Neben, Gabriele, additional, van de Flierdt, Tina, additional, Verret, Marjolaine, additional, White, Duanne A., additional, Williams, Trevor, additional, Wilson, David J., additional, and Wilson, Gary, additional

Published
2021
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43. Teaching Science On-Line: A Reflection on a Year's Experience.

Author

Bentley, Michael L.

Abstract

This paper describes how one university professor came to recognize that a computer-mediated learning environment can effectively facilitate student knowledge construction. During the 2001-02 academic year, he taught several online, undergraduate science courses at two different institutions. Delivery, which was entirely online, used e-mail, drop boxes, and Web-based lessons and resources. Threaded discussion was possible through a message board. The professor maintained online office hours via AOL Instant Messenger each week. He also developed online seminars via chat-room technology; an e-mail listserv to deliver professor notes and images; Web-posted PowerPoint presentations, video clips, and sound files; and online quizzes and exams. He discovered that student personalities and learning strengths and weaknesses could be perceived through their writing and drawings. Student feedback in all of the courses was positive, and students complimented his teaching. Based on his experiences with these courses, he redesigned one of his regular courses into a technology-enhanced science education course that includes both on-line elements and face-to-face components. (SM)

Published
2003

44. Assessing the Impact of Inquiry-Based Science Teaching in Professional Development Activities, PK-12.

Author

Alouf, James L., Bentley, Michael L.

Abstract

This paper defines the nature of purposeful science teaching, describing how two Virginia professional development programs for teachers utilized science faculty for instruction in inquiry-based science. Both projects involved summer institutes for teachers that modeled inquiry-based science teaching so that teachers could seriously implement the method in their classrooms. They distinguished between the use of hands-on and inquiry-based activities by focusing on the nature of science as open-ended investigation, rather than the replication of an experiment with predictable results. Surveys of participants in both programs examined the frequency of inquiry use in their classrooms and the influence that approach had on student achievement and motivation. Overall, teachers in both groups were using the inquiry approach less than once or week or at least once a week. There were some gains in student achievement, particularly with student problem solving, student participation in hands-on activities, teacher-made tests, and student recall of content. Teachers in both groups reported gains in student motivation due to the inquiry approach, even in the high-stakes testing environment. Respondents cited no negative effects on student achievement. Two appendixes present the survey and four figures. (Contains 16 references.) (SM)

Published
2003

45. The Influence of the Modeling of Inquiry-Based Science Teaching By Science Faculty in P-12 Teacher Professional Development Programs.

Author

Bentley, Michael L. and Alouf, James L.

Abstract

Because research has found that many students experience science as fragmented, this study examined the impact of modeling by science teachers during faculty development programs on participants' subsequent classroom instruction and on their students' science achievement and motivation. In two programs, liberal arts college science professors implemented inquiry-based activities for classroom teachers, teaching science content to teacher participants using hands-on/minds-on lessons. Surveys of participants from three iterations of these programs solicited their observations about their own post-project teaching methods and the impact they perceived in students' science achievement and motivation as a result of experiencing inquiry teaching. Teachers in both groups, for the most part, were using inquiry-based science activities once a week or less than once a week, and there were some gains in students' academic achievement. The categories of achievement where teacher perceived the most gain were teacher-made exams, hands-on activities, student problem solving, and recall of content. Participant comments suggested that teachers believed students remembered the content better and could use the information to solve problems, especially on teacher-made tests. Results indicated an overwhelmingly positive effect on student motivation. The survey is appended. (Contains 22 references.) (SM)

Published
2003

46. Alpine topography of the Gamburtsev Subglacial Mountains, Antarctica, mapped from ice sheet surface morphology.

Author

Lea, Edmund J., Jamieson, Stewart S. R., and Bentley, Michael J.

Subjects
ICE sheets, SURFACE morphology, TOPOGRAPHY, ANTARCTIC ice, RADAR in aeronautics, ICE shelves, MORPHOTECTONICS, GLACIAL landforms
Abstract

Landscapes buried beneath the Antarctic Ice Sheet preserve information about the geologic and geomorphic evolution of the continent both before and during the wide-scale glaciation that began roughly 34×106 years ago. Since the inception of this ice sheet, some areas have remained cold-based and non-erosive, preserving ancient landscapes remarkably intact. The Gamburtsev Subglacial Mountains in central East Antarctica are one such landscape, maintaining evidence of tectonic, fluvial and glacial controls on their distinctly alpine morphology. The central Gamburtsev Mountains have previously been surveyed using airborne ice-penetrating radar; however, many questions remain as to their evolution and their influence on the East Antarctic Ice Sheet, including where in the region to drill for a 1.5×106 year-long "oldest-ice" core. Here, we derive new maps of the planform geometry of the Gamburtsev Subglacial Mountains from satellite remote sensing datasets of the ice sheet surface, based on the relationship between bed roughness and ice surface morphology. Automated and manual approaches to mapping were tested and validated against existing radar data and elevation models. Manual mapping was more effective than automated approaches at reproducing bed features observed in radar data, but a hybrid approach is suggested for future work. The maps produced here show the detail of mountain ridges and valleys on wavelengths significantly smaller than the spacing of existing radar flightlines, and mapping has extended well beyond the confines of existing radar surveys. Morphometric analysis of the mapped landscape reveals that it constitutes a preserved (>34 Ma) dendritic valley network, with some evidence for modification by topographically confined glaciation prior to ice sheet inception. The planform geometry of the landscape is a significant control on locations of basal melting, subglacial hydrological flows and the stability of the ice sheet over time, so the maps presented here may help to guide decisions about where to search for oldest ice. [ABSTRACT FROM AUTHOR]

Published
2024
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47. Perceptions of the effectiveness of using patient encounter data as an education and reflection tool in general practice training.

Author

Klein, Linda, Bentley, Michael, Moad, Dominica, Fielding, Alison, Tapley, Amanda, van Driel, Mieke, Davey, Andrew, Mundy, Ben, FitzGerald, Kristen, Taylor, Jennifer, Norris, Racheal, Holliday, Elizabeth, and Magin, Parker

Subjects
SUPERVISION of employees, CROSS-sectional method, SCALE analysis (Psychology), FAMILY medicine, RESEARCH funding, QUESTIONNAIRES, PRIMARY health care, REFLECTION (Philosophy), QUANTITATIVE research, DESCRIPTIVE statistics, INFORMATION needs, ATTITUDES of medical personnel, CLINICAL competence, COLLEGE teacher attitudes, LEARNING strategies, NATIONAL competency-based educational tests, DATA analysis software, CONFIDENCE intervals
Abstract

Introduction. Patient encounter tools provide feedback and potentially reflection on general practitioner (GP) registrars' in-practice learning and may contribute to the formative assessment of clinical competencies. However, little is known about the perceived utility of such tools. Aim. To investigate the perceived utility of a patient encounter tool by GP registrars, their supervisors, and medical educators (MEs). Methods. General practice registrars, supervisors and MEs from two Australian regional training organisations completed a cross-sectional questionnaire. Registrars rated how Registrar Clinical Encounters in Training (ReCEnT), a patient encounter tool, influenced their reflection on, and change in, clinical practice, learning and training. Supervisors' and MEs' perceptions provided contextual information about understanding their registrars' clinical practice, learning and training needs. Results. Questionnaires were completed by 48% of registrars (n = 90), 22% of supervisors (n = 182), and 61% of MEs (n = 62). Most registrars agreed that ReCEnT helped them reflect on their clinical practice (79%), learning needs (69%) and training needs (72%). Many registrars reported changing their clinical practice (54%) and learning approaches (51%). Fewer (37%) agreed that ReCEnT influenced them to change their training plans. Most supervisors (68%) and MEs (82%) agreed ReCEnT reports helped them better understand their registrars' clinical practice. Similarly, most supervisors (63%) and MEs (68%) agreed ReCEnT reports helped them better understand their registrars' learning and training needs. Discussion. ReCEnT can prompt self-reflection among registrars, leading to changes in clinical practice, learning approaches and training plans. Reaching its potential as an assessment for learning (as opposed to an assessment of learning) requires effective engagement between registrars, their supervisors and MEs. [ABSTRACT FROM AUTHOR]

Published
2024
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48. Subglacial valleys preserved in the highlands of south and east Greenland record restricted ice extent during past warmer climates.

Author

Paxman, Guy J. G., Jamieson, Stewart S. R., Dolan, Aisling M., and Bentley, Michael J.

Subjects
ALPINE glaciers, GREENLAND ice, GLACIAL landforms, ICE sheets, VALLEYS, SURFACE of the earth, UPLANDS
Abstract

The Greenland Ice Sheet is a key contributor to contemporary global sea level rise, but its long-term history and response to episodes of warming in Earth's geological past remain uncertain. The terrain covered by the ice sheet comprises ∼ 79 % of Greenland and ∼ 1.1 % of the Earth's land surface and contains geomorphological records that may provide valuable insights into past ice-sheet behaviour. Here we use ice surface morphology and radio-echo sounding data to identify ice-covered valleys within the highlands of southern and eastern Greenland and use numerical ice-sheet modelling to constrain the climatological and glaciological conditions responsible for valley incision. Our mapping reveals intricate subglacial valley networks with morphologies that are indicative of substantial glacial modification of an inherited fluvial landscape, yet many of these valleys are presently situated beneath cold-based, slow-moving (i.e. non-erosive) ice. We use the morphology of the valleys and our simple ice-sheet model experiments to infer that incision likely occurred beneath erosive mountain valley glaciers during one or more phases of Greenland's glacial history when ice was restricted to the southern and eastern highlands and when Greenland's contribution to barystatic sea level was up to + 7 m relative to today. We infer that this valley incision primarily occurred prior to the growth of a continental-scale ice sheet, most likely during the late Miocene (ca. 7–5 Ma) and/or late Pliocene (ca. 3.6–2.6 Ma). Our findings therefore provide new data-based constraints on early Greenland Ice Sheet extent and dynamics that can serve as valuable boundary conditions in models of regional and global palaeoclimate during past warm periods that are important analogues for climate change in the 21st century and beyond. [ABSTRACT FROM AUTHOR]

Published
2024
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50. Search for Weak Side Branches in the Electromagnetic Decay Paths of the 6526-keV 10+ Isomer in 54Fe

Author

Böhm, Paul, primary, Hrabar, Yuliia, additional, Rudolph, Dirk, additional, Golubev, Pavel, additional, Sarmiento, Luis G., additional, Albers, Helena M., additional, Anderson, John T., additional, Bentley, Michael A., additional, Carpenter, Michael P., additional, Chiara, Christopher J., additional, Copp, Patrick A., additional, Forsberg, Ulrika, additional, Huang, Tianheng, additional, Jayatissa, Heshani, additional, Lauritsen, Torben, additional, Müller-Gatermann, Claus, additional, Pereira-Lopez, Xesus, additional, Reviol, Walter, additional, Seweryniak, Darek, additional, Stolze, Sanna, additional, Uthayakumaar, Sivahami, additional, Wilson, Gemma L., additional, and Wu, Jin, additional

Published
2023
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