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All sources NASA NTRS DOE OSTI

NASA NTRS2018

NeMO-Net & Fluid Lensing: The Neural Multi-Modal Observation & Training Network for Global Coral Reef Assessment Using Fluid Lensing Augmentation of NASA EOS Data

We present preliminary results from NASA NeMO-Net, the first neural multi-modal observation and training network for global coral reef assessment. NeMO-Net is an open-source deep convolutional neural network (CNN) and interactive active learning training software in development which will assess the present and past dynamics of coral reef ecosystems. NeMO-Net exploits active learning and data fusion of mm-scale remotely sensed 3D images of coral reefs captured using fluid lensing with the NASA FluidCam instrument, presently the highest-resolution remote sensing benthic imaging technology capable of removing ocean wave distortion, as well as hyperspectral airborne remote sensing data from the ongoing NASA CORAL mission and lower-resolution satellite data to determine coral reef ecosystem makeup globally at unprecedented spatial and temporal scales. Aquatic ecosystems, particularly coral reefs, remain quantitatively misrepresented by low-resolution remote sensing as a result of refractive distortion from ocean waves, optical attenuation, and remoteness. Machine learning classification of coral reefs using FluidCam mm-scale 3D data show that present satellite and airborne remote sensing techniques poorly characterize coral reef percent living cover, morphology type, and species breakdown at the mm, cm, and meter scales. Indeed, current global assessments of coral reef cover and morphology classification based on km-scale satellite data alone can suffer from segmentation errors greater than 40%, capable of change detection only on yearly temporal scales and decameter spatial scales, significantly hindering our understanding of patterns and processes in marine biodiversity at a time when these ecosystems are experiencing unprecedented anthropogenic pressures, ocean acidification, and sea surface temperature rise. NeMO-Net leverages our augmented machine learning algorithm that demonstrates data fusion of regional FluidCam (mm, cm-scale) airborne remote sensing with global low-resolution (m, km-scale) airborne and spaceborne imagery to reduce classification errors up to 80% over regional scales. Such technologies can substantially enhance our ability to assess coral reef ecosystems dynamics.

satellite data↗

NASA NTRS2018

NASA NeMO-Net

We present preliminary results from NASA NeMO-Net, the first neural multi-modal observation and training network for global coral reef assessment. NeMO-Net is an open-source deep convolutional neural network (CNN) and interactive active learning training software in development which will assess the present and past dynamics of coral reef ecosystems. NeMO-Net exploits active learning and data fusion of mm-scale remotely sensed 3D images of coral reefs captured using fluid lensing with the NASA FluidCam instrument, presently the highest-resolution remote sensing benthic imaging technology capable of removing ocean wave distortion, as well as hyperspectral airborne remote sensing data from the ongoing NASA CORAL mission and lower-resolution satellite data to determine coral reef ecosystem makeup globally at unprecedented spatial and temporal scales. Aquatic ecosystems, particularly coral reefs, remain quantitatively misrepresented by low- resolution remote sensing as a result of refractive distortion from ocean waves, optical attenuation, and remoteness. Machine learning classification of coral reefs using FluidCam mm-scale 3D data show that present satellite and airborne remote sensing techniques poorly characterize coral reef percent living cover, morphology type, and species breakdown at the mm, cm, and meter scales. Indeed, current global assessments of coral reef cover and morphology classification based on km-scale satellite data alone can suffer from segmentation errors greater than 40%, capable of change detection only on yearly temporal scales and decameter spatial scales, significantly hindering our understanding of patterns and processes in marine biodiversity at a time when these ecosystems are experiencing unprecedented anthropogenic pressures, ocean acidification, and sea surface temperature rise. NeMO-Net leverages our augmented machine learning algorithm that demonstrates data fusion of regional FluidCam (mm, cm-scale) airborne remote sensing with global low-resolution (m, km-scale) airborne and spaceborne imagery to reduce classification errors up to 80% over regional scales. Such technologies can substantially enhance our ability to assess coral reef ecosystems dynamics.

NASA↗

DOE OSTI2024

Reinforcement learning for block decomposition of planar CAD models

Abstract The problem of hexahedral mesh generation of general CAD models has vexed researchers for over 3 decades and analysts often spend more than 50% of the design-analysis cycle time decomposing complex models into simpler blocks meshable by existing techniques. The decomposed blocks are required for generating good quality meshes (tilings of quadrilaterals or hexahedra) suitable for numerical simulations of physical systems governed by conservation laws. We present a novel AI-assisted method for decomposing (segmenting) planar CAD (computer-aided design) models into well shaped rectangular blocks. Even though the simple examples presented here can also be meshed using many conventional methods, we believe this work is proof-of-principle of a AI-based decomposition method that can eventually be generalized to complex 2D and 3D CAD models. Our method uses reinforcement learning to train an agent to perform a series of optimal cuts on the CAD model that result in a good quality block decomposition. We show that the agent quickly learns an effective strategy for picking the location and direction of the cuts and maximizing its rewards. This paper is the first successful demonstration of an agent autonomously learning how to perform this block decomposition task effectively, thereby holding the promise of a viable method to automate this challenging process for more complex cases.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2025

Design of a robot-automated flat plate/reflection geometry x-ray diffraction setup for accelerated materials discovery and structural screening

Here, we report the design, construction, and automation of a flat plate sample loading, alignment, and data acquisition system for X-ray diffraction measurements in reflection geometry implemented at the Stanford Synchrotron Radiation Lightsource. The system is built onto a single platform, enabling facile transferability, and is compartmentalized into sample storage, sample transfer, and sample position/alignment segments. The core feature of this system is a six-axis robotic arm that offers a large range of highly reproducible and programable movements. The degrees of freedom of the robot arm enable adaptability in which movements can be modified to fit various beamline environments and sample configurations. Samples are housed on 3D printed sample mounts, which are arranged onto a 6 × 2 array of sample cassettes capable of holding 7 samples. Using sample mounts designed for solid oxide electrolysis button cells (SOECs), the maximum tray capacity is 84 samples, which can be aligned and run in ~ 24 hours with long exposure scans. The sample array is additionally capable of accommodating a range of sample sizes and geometries due to the rapid 3D printed fabrication. The components of the setup will be described in detail and performance will be demonstrated with a set of representative SOEC and XRD standard samples. Opportunities for future developments and integration with the automated setup are summarized.

08 HYDROGEN↗

DOE OSTI2014

SU-E-J-209: Verification of 3D Surface Registration Between Stereograms and CT Images

Purpose: Stereography can provide a visualization of the skin surface for radiation therapy patients. The aim of this study was to verify the registration algorithm in a commercial image analysis software, 3dMDVultus, for the fusion of stereograms and CT images. Methods: CT and stereographic scans were acquired of a head phantom and a deformable phantom. CT images were imported in 3dMDVultus and the surface contours were generated by threshold segmentation. Stereograms were reconstructed in 3dMDVultus. The resulting surfaces were registered with Vultus algorithm and then exported to in-house registration software and compared with four algorithms: rigid, affine, non-rigid iterative closest point (ICP) and b-spline algorithm. RMS (root-mean-square residuals of the surface point distances) error between the registered CT and stereogram surfaces was calculated and analyzed. Results: For the head phantom, the maximum RMS error between registered CT surfaces to stereogram was 6.6 mm for Vultus algorithm, whereas the mean RMS error was 0.7 mm. For the deformable phantom, the maximum RMS error was 16.2 mm for Vultus algorithm, whereas the mean RMS error was 4.4 mm. Non-rigid ICP demonstrated the best registration accuracy, as the mean of RMS errors were both within 1 mm. Conclusion: The accuracy of registration algorithm in 3dMDVultus was verified and exceeded RMS of 2 mm for deformable cases. Non-rigid ICP and b-spline algorithms improve the registration accuracy for both phantoms, especially in deformable one. For those patients whose body habitus deforms during radiation therapy, more advanced nonrigid algorithms need to be used.

60 APPLIED LIFE SCIENCES↗

NASA NTRS2016

3D Backscatter Imaging System

Systems and methods for imaging an object using backscattered radiation are described. The imaging system comprises both a radiation source for irradiating an object that is rotationally movable about the object, and a detector for detecting backscattered radiation from the object that can be disposed on substantially the same side of the object as the source and which can be rotationally movable about the object. The detector can be separated into multiple detector segments with each segment having a single line of sight projection through the object and so detects radiation along that line of sight. Thus, each detector segment can isolate the desired component of the backscattered radiation. By moving independently of each other about the object, the source and detector can collect multiple images of the object at different angles of rotation and generate a three dimensional reconstruction of the object. Other embodiments are described.

Turner, D. Clark↗

DOE OSTI2011

Robust automatic rigid registration of MRI and X-ray using external fiducial markers for XFM-guided interventional procedures

Purpose: In X-ray fused with MRI, previously gathered roadmap MRI volume images are overlaid on live X-ray fluoroscopy images to help guide the clinician during an interventional procedure. The incorporation of MRI data allows for the visualization of soft tissue that is poorly visualized under X-ray. The widespread clinical use of this technique will require fully automating as many components as possible. While previous use of this method has required time-consuming manual intervention to register the two modalities, in this article, the authors present a fully automatic rigid-body registration method. Methods: External fiducial markers that are visible under these two complimentary imaging modalities were used to register the X-ray images with the roadmap MR images. The method has three components: (a) The identification of the 3D locations of the markers from a full 3D MR volume, (b) the identification of the 3D locations of the markers from a small number of 2D X-ray fluoroscopy images, and (c) finding the rigid-body transformation that registers the two point sets in the two modalities. For part (a), the localization of the markers from MR data, the MR volume image was thresholded, connected voxels were segmented and labeled, and the centroids of the connected components were computed. For part (b), the X-ray projection images, produced by an image intensifier, were first corrected for distortions. Binary mask images of the markers were created from the distortion-corrected X-ray projection images by applying edge detection, pattern recognition, and image morphological operations. The markers were localized in the X-ray frame using an iterative backprojection-based method which segments voxels in the volume of interest, discards false positives based on the previously computed edge-detected projections, and calculates the locations of the true markers as the centroids of the clusters of voxels that remain. For part (c), a variant of the iterative closest point method was used to find correspondences between and register the two sets of points computed from MR and X-ray data. This knowledge of the correspondence between the two point sets was used to refine, first, the X-ray marker localization and then the total rigid-body registration between modalities. The rigid-body registration was used to overlay the roadmap MR image onto the X-ray fluoroscopy projections. Results: In 35 separate experiments, the markers were correctly registered to each other in 100% of the cases. When half the number of X-ray projections was used (10 X-ray projections instead of 20), the markers were correctly registered in all 35 experiments. The method was also successful in all 35 experiments when the number of markers was (retrospectively) halved (from 16 to 8). The target registration error was computed in a phantom experiment to be less than 2.4 mm. In two in vivo experiments, targets (interventional devices with pointlike metallic structures) inside the heart were successfully registered between the two modalities. Conclusions: The method presented can be used to automatically register a roadmap MR image to X-ray fluoroscopy using fiducial markers and as few as ten X-ray projections.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

Heterodyne frequency-domain multispectral diffuse optical tomography of breast cancer in the parallel-plane transmission geometry

Purpose: The authors introduce a state-of-the-art all-optical clinical diffuse optical tomography (DOT) imaging instrument which collects spatially dense, multispectral, frequency-domain breast data in the parallel-plate geometry. Methods: The instrument utilizes a CCD-based heterodyne detection scheme that permits massively parallel detection of diffuse photon density wave amplitude and phase for a large number of source–detector pairs (10{sup 6}). The stand-alone clinical DOT instrument thus offers high spatial resolution with reduced crosstalk between absorption and scattering. Other novel features include a fringe profilometry system for breast boundary segmentation, real-time data normalization, and a patient bed design which permits both axial and sagittal breast measurements. Results: The authors validated the instrument using tissue simulating phantoms with two different chromophore-containing targets and one scattering target. The authors also demonstrated the instrument in a case study breast cancer patient; the reconstructed 3D image of endogenous chromophores and scattering gave tumor localization in agreement with MRI. Conclusions: Imaging with a novel parallel-plate DOT breast imager that employs highly parallel, high-resolution CCD detection in the frequency-domain was demonstrated.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2017

Quantifying Mesoscale Neuroanatomy Using X-Ray Microtomography

Methods for resolving the three-dimensional (3D) microstructure of the brain typically start by thinly slicing and staining the brain, followed by imaging numerous individual sections with visible light photons or electrons. In contrast, X-rays can be used to image thick samples, providing a rapid approach for producing large 3D brain maps without sectioning. Here we demonstrate the use of synchrotron X-ray microtomography (µCT) for producing mesoscale (~1 µm 3 resolution) brain maps from millimeter-scale volumes of mouse brain. We introduce a pipeline for µCT-based brain mapping that develops and integrates methods for sample preparation, imaging, and automated segmentation of cells, blood vessels, and myelinated axons, in addition to statistical analyses of these brain structures. Our results demonstrate that X-ray tomography achieves rapid quantification of large brain volumes, complementing other brain mapping and connectomics efforts.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2023

Computational modeling and validation of a modified Marple cascade impactor

Oak Ridge National Laboratory (ORNL) is investigating respirable aerosol fractions from failed high-burnup (HBU) commercial spent nuclear fuel (CSNF) rods (Montgomery et al., 2022). The work aims to characterize the source term of radioactive aerosols that could result from mechanical failure and handling of failed fuel rods during storage and/or transportation. The experiment involves capturing and characterizing aerosols from a four-point bending experiment of fueled rod segments at ORNL’s Irradiated Fuels Examination Laboratory (IFEL). For this, a Marple cascade impactor (Series 290) with the ability to collect particles up to aerodynamic equivalent diameters of ~15 μm was tested for feasibility. The commercially available Marple cascade impactor design was modified for the experiment, where the cascade inlet was replaced with a 3D printed inlet nozzle. Collection efficiency curves were then generated with the modified impactor, and the cascade’s performance was tested using ISO dust capture experiments followed by SEM analysis of the collection and computational modeling. The current work highlights the performance testing and experimental validation of this modified Marple Impactor for spent nuclear fuel aerosol collection.

Kumar, Vineet↗

DOE OSTI2016

Segmentation of nanotomographic cortical bone images for quantitative characterization of the osteoctyte lacuno-canalicular network

A newly developed data processing method able to characterize the osteocytes lacuno-canalicular network (LCN) is presented. Osteocytes are the most abundant cells in the bone, living in spaces called lacunae embedded inside the bone matrix and connected to each other with an extensive network of canals that allows for the exchange of nutrients and for mechanotransduction functions. The geometrical three-dimensional (3D) architecture is increasingly thought to be related to the macroscopic strength or failure of the bone and it is becoming the focus for investigating widely spread diseases such as osteoporosis. To obtain 3D LCN images non-destructively has been out of reach until recently, since tens-of-nanometers scale resolution is required. Ptychographic tomography was validated for bone imaging in [1], showing clearly the LCN. The method presented here was applied to 3D ptychographic tomographic images in order to extract morphological and geometrical parameters of the lacuno-canalicular structures.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2014

Physics-based simulation of EM and SM in TSV-based 3D IC structures

Evolution of stresses in through-silicon-vias (TSVs) and in the TSV landing pad due to the stress migration (SM) and electromigration (EM) phenomena are considered. It is shown that an initial stress distribution existing in a TSV depends on its architecture and copper fill technology. We demonstrate that in the case of proper copper annealing the SM-induced redistribution of atoms results in uniform distributions of the hydrostatic stress and concentration of vacancies along each segment. In this case, applied EM stressing generates atom migration that is characterized by kinetics depending on the preexisting equilibrium concentration of vacancies. Stress-induced voiding in TSV is considered. EM induced voiding in TSV landing pad is analyzed in details.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2012

Changes in the pore network structure of Hanford sediment after reaction with caustic tank wastes

At the former nuclear weapon production site in Hanford, WA, caustic radioactive tank waste leaks into subsurface sediments and causes dissolution of quartz and aluminosilicate minerals, and precipitation of sodalite and cancrinite. This work examines changes in pore structure due to these reactions in a previously-conducted column experiment. The column was sectioned and 2D images of the pore space were generated using backscattered electron microscopy and energy dispersive X-ray spectroscopy. A pre-precipitation scenario was created by digitally removing mineral matter identified as secondary precipitates. Porosity, determined by segmenting the images to distinguish pore space from mineral matter, was up to 0.11 less after reaction. Erosion-dilation analysis was used to compute pore and throat size distributions. Images with precipitation had more small and fewer large pores. Precipitation decreased throat sizes and the abundance of large throats. These findings agree with previous findings based on 3D X-ray CMT imaging, observing decreased porosity, clogging of small throats, and little change in large throats. However, 2D imaging found an increase in small pores, mainly in intragranular regions or below the resolution of the 3D images. Also, an increase in large pores observed via 3D imaging was not observed in the 2D analysis. Changes in flow conducting throats that are the key permeability-controlling features were observed in both methods.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2016

SU-G-JeP2-06: Dosimetric and Workflow Evaluation of First Commercial Synthetic CT Software for Clinical Use in Pelvis

Purpose: evaluate a commercial synthetic CT (syn-CT) software for use in prostate radiotherapy Methods: Twenty prostate patients underwent CT and MR simulation scans in treatment position on a 3T Philips scanner. The MR protocol consisted of a T2w turbo spin-echo for soft tissue contrast, a 2D balanced-fast field echo (b-FFE) for fiducial identification, a dual-echo 3D FFE B0 map for distortion analysis and a 3D mDIXON FFE sequence to generate syn-CT. Two echoes are acquired during mDIXON scan, allowing water, fat, and in-phase images to be derived using the frequency shift of the fat and water protons. Tissues were classified as: air, adipose, water, trabecular/spongy bone and compact/cortical bone and assigned specific bulk HU values. Bone structures are segmented based on a pelvis bone atlas. Accuracy of syn-CT for patient treatment planning was analyzed by transferring the original plan and structures from the CT to syn-CT via rigid registration and recalculating dose. In addition, new IMRT plans were generated on the syn-CT using structures contoured on MR and transferred to the syn-CT. Accuracy of fiducial-based localization at the treatment machine performed using syn-CT or DRRs generated from syn-CT was assessed by comparing to orthogonal kV radiographs or CBCT. Results: Dosimetric comparison between CT and syn-CT was within 0.5% for all structures. The de-novo optimized plans generated on the syn-CT met our institutional clinical objectives for target and normal structures. Patient-induced susceptibility distortion based on B0 maps was within 1mm and 0.4 mm in the body and prostate. The rectal and bladder outlines on the syn-CT were deemed sufficient for assessing rectal and bladder filling on the CBCT at the time of treatment. CBCT localization showed a median error of < ±1 mm in LR, AP and SI direction. Conclusion: MRI derived syn-CT can be used clinically in MR-alone planning and treatment process for prostate. Drs. Deasy, Hunt and Tyagi have Master research agreement with Philips healthcare.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2024

NuGraph2: A Graph Neural Network for Neutrino Event Reconstruction

Neutrino experiments are set to probe some of the most important open questions in physics, from CP violation and the nature of dark matter. The technology of choice for many of these experiments is the liquid argon time projection chamber (LArTPC). In current LArTPC experiments, reconstruction performance often represents a limiting factor for the sensitivity. New developments are therefore needed to unlock the full potential of LArTPC experiments. NuGraph2 is a state of the art Graph Neural Network for reconstruction of data in LArTPC experiments. NuGraph2 utilizes a heterogeneous graph structure, with separate subgraphs of 2D nodes (hits in each plane) connected across planes via 3D nodes (space points). The model provides a consistent description of the neutrino interaction across all planes. NuGraph2 is a multi-purpose network, with a common message-passing attention engine connected to multiple decoders with different classification or regression tasks. These include the classification of detector hits according to the particle type that produced them (semantic segmentation) and the separation of hits from the neutrino interaction from hits due to noise or cosmic-ray background. Additional decoders are being developed, performing tasks such as the regression of the neutrino interaction vertex position. Performance results will be presented based on publicly available samples from MicroBooNE. These include both physics performance metrics, achieving 95% accuracy for semantic segmentation and 98% classification of neutrino hits, as well as computational metrics for training and for inference on CPU or GPU. The status of the NuGraph integration in the LArSoft software framework will be presented, as well as initial studies about model interpretability and injection of domain knowledge.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

NuGraph2: A Graph Neural Network for Neutrino Event Reconstruction

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

NuGraph2: A Graph Neural Network for Neutrino Event Reconstruction

Neutrino experiments are set to probe some of the most important open questions in physics, from CP violation and the nature of dark matter. The technology of choice for many of these experiments is the liquid argon time projection chamber (LArTPC). In current LArTPC experiments, reconstruction performance often represents a limiting factor for the sensitivity. New developments are therefore needed to unlock the full potential of LArTPC experiments. NuGraph2 is a state of the art Graph Neural Network for reconstruction of data in LArTPC experiments [https://arxiv.org/abs/2403.11872]. NuGraph2 utilizes a heterogeneous graph structure, with separate subgraphs of 2D nodes (hits in each plane) connected across planes via 3D nodes (space points). The model provides a consistent description of the neutrino interaction across all planes. NuGraph2 is a multi-purpose network, with a common message-passing attention engine connected to multiple decoders with different classification or regression tasks. These include the classification of detector hits according to the particle type that produced them (semantic segmentation) and the separation of hits from the neutrino interaction from hits due to noise or cosmic-ray background. Additional decoders are being developed, performing tasks such as the regression of the neutrino interaction vertex position. Performance results will be presented based on publicly available samples from MicroBooNE. These include both physics performance metrics, achieving 95% accuracy for semantic segmentation and 98% classification of neutrino hits, as well as computational metrics for training and for inference on CPU or GPU. The status of the NuGraph integration in the LArSoft software framework will be presented, as well as initial studies about model interpretability and injection of domain knowledge.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2014

The potential of positron emission tomography for intratreatment dynamic lung tumor tracking: A phantom study

Purpose: This study aims to evaluate the potential and feasibility of positron emission tomography for dynamic lung tumor tracking during radiation treatment. The authors propose a center of mass (CoM) tumor tracking algorithm using gated-PET images combined with a respiratory monitor and investigate the geometric accuracy of the proposed algorithm. Methods: The proposed PET dynamic lung tumor tracking algorithm estimated the target position information through the CoM of the segmented target volume on gated PET images reconstructed from accumulated coincidence events. The information was continuously updated throughout a scan based on the assumption that real-time processing was supported (actual processing time at each frame ≈10 s). External respiratory motion and list-mode PET data were acquired from a phantom programmed to move with measured respiratory traces (external respiratory motion and internal target motion) from human subjects, for which the ground truth target position was known as a function of time. The phantom was cylindrical with six hollow sphere targets (10, 13, 17, 22, 28, and 37 mm in diameter). The measured respiratory traces consisted of two sets: (1) 1D-measured motion from ten healthy volunteers and (2) 3D-measured motion from four lung cancer patients. The authors evaluated the geometric accuracy of the proposed algorithm by quantifying estimation errors (Euclidean distance) between the actual motion of targets (1D-motion and 3D-motion traces) and CoM trajectories estimated by the proposed algorithm as a function of time. Results: The time-averaged error of 1D-motion traces over all trajectories of all targets was 1.6 mm. The error trajectories decreased with time as coincidence events were accumulated. The overall error trajectory of 1D-motion traces converged to within 2 mm in approximately 90 s. As expected, more accurate results were obtained for larger targets. For example, for the 37 mm target, the average error over all 1D-motion traces was 1.1 mm; and for the 10 mm target, the average error over all 1D-motion traces was 2.8 mm. The overall time-averaged error of 3D-motion traces was 1.6 mm, which was comparable to that of the 1D-motion traces. There were small variations in the errors between the 3D-motion traces, although the motion trajectories were very different. The accuracy of the estimates was consistent for all targets except for the smallest. Conclusions: The authors developed an algorithm for dynamic lung tumor tracking using list-mode PET data and a respiratory motion signal, and demonstrated proof-of-principle for PET-guided lung tumor tracking. The overall tracking error in phantom studies is less than 2 mm.

62 RADIOLOGY AND NUCLEAR MEDICINE↗