Recently published Medical Physics Practice Guideline 5.a. (MPPG 5.a.) by American Association of Physicists in Medicine (AAPM) sets the minimum requirements for treatment planning system (TPS) dose algorithm commissi...Recently published Medical Physics Practice Guideline 5.a. (MPPG 5.a.) by American Association of Physicists in Medicine (AAPM) sets the minimum requirements for treatment planning system (TPS) dose algorithm commissioning and quality assurance (QA). The guideline recommends some validation tests and tolerances based primarily on published AAPM task group reports and the criteria used by IROC Houston. We performed the commissioning and validation of the dose algorithms for both megavoltage photon and electron beams on three linacs following MPPG 5.a. We designed the validation experiments in an attempt to highlight the evaluation method and tolerance criteria recommended by the guideline. It seems that comparison of dose profiles using in-water scan is an effective technique for basic photon and electron validation. IMRT/VMAT dose calculation is recommended to be tested with some TG-119 and clinical cases, but no consensus of the tolerance exists. Extensive validation tests have provided the better understanding of the accuracy and limitation of a specific dose calculation algorithm. We believe that some tests and evaluation criteria given in the guideline can be further refined.展开更多
Gait planning based on linear inverted pendulum (LIPM) on structured road surface can be quickly generated because of the simple model and definite physical meaning. However, over-simplifi- cation of the model and dis...Gait planning based on linear inverted pendulum (LIPM) on structured road surface can be quickly generated because of the simple model and definite physical meaning. However, over-simplifi- cation of the model and discontents of zero velocity and acceleration boundary conditions when robot starts and stops walking lead to obvious difference between the model and the real robot. In this paper, parameterized gait is planned and trajectories’ smoothness of each joint angle and centroid are ensured using the 3-D LIPM theory. Static walking method is used to satisfy zero velocity and acceleration boundary conditions. Besides, a multi-link model is built to validate the stability. Simulation experiments show that: despite of some deviation from the theoretical solution, the actual zero-moment point (ZMP) is still within the support polygon, and the robot walks steadily. In consequence, the rationality and validity of model simplification of LIPM is demonstrated.展开更多
文摘Recently published Medical Physics Practice Guideline 5.a. (MPPG 5.a.) by American Association of Physicists in Medicine (AAPM) sets the minimum requirements for treatment planning system (TPS) dose algorithm commissioning and quality assurance (QA). The guideline recommends some validation tests and tolerances based primarily on published AAPM task group reports and the criteria used by IROC Houston. We performed the commissioning and validation of the dose algorithms for both megavoltage photon and electron beams on three linacs following MPPG 5.a. We designed the validation experiments in an attempt to highlight the evaluation method and tolerance criteria recommended by the guideline. It seems that comparison of dose profiles using in-water scan is an effective technique for basic photon and electron validation. IMRT/VMAT dose calculation is recommended to be tested with some TG-119 and clinical cases, but no consensus of the tolerance exists. Extensive validation tests have provided the better understanding of the accuracy and limitation of a specific dose calculation algorithm. We believe that some tests and evaluation criteria given in the guideline can be further refined.
文摘Gait planning based on linear inverted pendulum (LIPM) on structured road surface can be quickly generated because of the simple model and definite physical meaning. However, over-simplifi- cation of the model and discontents of zero velocity and acceleration boundary conditions when robot starts and stops walking lead to obvious difference between the model and the real robot. In this paper, parameterized gait is planned and trajectories’ smoothness of each joint angle and centroid are ensured using the 3-D LIPM theory. Static walking method is used to satisfy zero velocity and acceleration boundary conditions. Besides, a multi-link model is built to validate the stability. Simulation experiments show that: despite of some deviation from the theoretical solution, the actual zero-moment point (ZMP) is still within the support polygon, and the robot walks steadily. In consequence, the rationality and validity of model simplification of LIPM is demonstrated.
