Vehicle Localization Using Sensors Data Fusion Via Integration of Covariance Intersection and Interval Analysis

Achieving an innovative integrated sensor fusion architecture with a robust vehicle navigation and localization using an extended Kalman filter, interval analysis and covariance intersection that can overcome the uncertainty in the system model and sensor noise statistics. There are various approaches to the problem, but here the focus is on an approach which can guaranteed performance of sensor-based navigation. The guaranteed performance is quantified by explicit bounds of position estimate of a ground vehicle. Ground vehicles generally carry dead reckoning sensors such as wheel encoders and inertial sensors, to measure acceleration and angle rate, while obstacle detection and mapmaking is done with time-of-flight ultrasonic sensors. Most of these sensors give overlapping or complementary information and sometimes are redundant as well, which offers scope for exploiting data fusion. The purpose here is to achieve data fusion for ground vehicles with low-cost sensors by forming an intelligent sensor system. This is accomplished by combining the sensors' measurements and processing these measurements with data fusion algorithms. The algorithms are complementary in the sense that they compensate for each other's limitations, so that the resulting performance of the sensor system is better than its individual components.     

Behavioral depression during cocaine withdrawal is associated with decreased spontaneous activity of ventral tegmental area dopamine neurons.

Withdrawal from an escalating-dose, bingelike regimen of cocaine administration in rats produced significantly depressed levels of locomotor activity during the nocturnal portion of the day-night cycle. This effect was observed during the first 48 hrs of testing. Extracellular single-unit recordings of ventral tegmental area (VTA) dopamine (DA) neurons revealed no differences between saline- and cocaine-treated rats with respect to basal firing rates. However, significantly fewer spontaneously active VTA DA neurons were encountered in rats withdrawn from binge cocaine. As with the nocturnal hypoactivity, this effect was observed only during the first 48 hrs of withdrawal. These findings suggest that short-term DA neuron dysfunction during cocaine withdrawal temporally corresponds to behavioral disruptions that are similar to those described in human addicts. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Generating compact, guaranteed passive reduced-order models of 3-D RLC interconnects

As very large scale integration (VLSI) circuit speeds and density continue to increase, the need to accurately model the effects of three-dimensional (3-D) interconnects has become essential for reliable chip and system design and verification. Since such models are commonly used inside standard circuit simulators for time or frequency domain computations, it is imperative that they be kept compact without compromising accuracy, and also retain relevant physical properties of the original system, such as passivity. In this paper, we describe an approach to generate accurate, compact, and guaranteed passive models of RLC interconnects and packaging structures. The procedure is based on a partial element equivalent circuit (PEEC)-like approach to modeling the impedance of interconnect structures accounting for both the charge accumulation on the surface of conductors and the current traveling in their interior. The resulting formulation, based on nodal or mixed nodal and mesh analysis, enables the application of existing model order reduction techniques. Compactness and passivity of the model are then ensured with a two-step reduction procedure where Krylov-subspace moment-matching methods are followed by a recently proposed, nearly optimal, passive truncated balanced realization-like algorithm. The proposed approach was used for extracting passive models for several industrial examples, whose accuracy was validated both in the frequency domain as well as against measured time-domain data.     

A strategy for improving patient satisfaction by the intensive training of residents in psychosocial medicine: a controlled, randomized study

PURPOSE: To use a controlled, randomized design to assess the effect on patient satisfaction of an intensive psychosocial training program for residents. METHOD: Twenty-six first-year residents, in two internal medicine and family practice community-based programs affiliated with the Michigan State University College of Human Medicine, were randomly assigned during 1991 and 1992 to a control group or a one-month intensive training program. Experiential teaching focused on many psychosocial skills required in primary care. A 29-item questionnaire administered before and after the residents' training evaluated their patients' satisfaction regarding patient disclosure, physician empathy, confidence in physician, general satisfaction, and comparison of the physician with other physicians. Analyses of covariance with groups and gender as factors and pre-training patient satisfaction scores as the covariate evaluated the effect of the training. RESULTS: The patients of the trained residents expressed more confidence in their physicians (p = .01) and more general satisfaction (p = .02) than did the patients of controls. The effect of training on patient satisfaction with patient disclosure (p < .01) and physician empathy (p < .05) was greater for female than for male residents. CONCLUSION: The intensive psychosocial training program for residents improved their patients' satisfaction.     

Preparation and characterization of high molecular weight poly(hydroxy ethers) with unusually high glass transition temperatures

A series of novel poly(hydroxy ethers) have been prepared via polymerization of the diglycidyl ethers of bisphenol-A ( 4 ), 4,4 ′-tribromotetramethylbiphenol ( 6a ), and 4,4 ′-tetrabromotetramethylbiphenol ( 6b ) with a variety of rigid diols in an effort to systematically modify structural features of the phenoxy repeat unit in order to control the torsional mobility of polymer backbones and produce materials with softening temperatures higher than are typical for the class. The resulting poly(hydroxy ethers) displyed glass transition temperatures ranging from 109 to 242°C. There of the polymers were characterized with respect to tensile and impact properties and were compared to the polymer sythesized from bisphenol-A ( 1 ) and bisphenol-A diglycidyl ether ( 4 ).     

Continuity and change: past experience as adaptive repertoire in occupational adaptation

Narratives are gaining recognition as important ways occupational therapists and other clinicians can think about the life stories of clients. The purpose of this article is to examine a conceptualization of how changes from one chapter to another occur in life stories, using the metaphor of an adaptive repertoire, and to consider how this notion can be useful in helping clients maintain continuity and a coherent life story in times of change. Three premises based on the concept of adaptation address (a) configurations of occupational forms embedded in particular local worlds, (b) cumulative development of an adaptive repertoire that allows one to perform both competently and appropriately, and (c) adaptive transitions and application of one's repertoire to new circumstances. Implications for research and clinical practice in occupational therapy also are examined.     

Ferritin in cultured human cytotrophoblasts: synthesis and subunit distribution

The present study aims at the role of ferritin in the regulation of syncytiotrophoblast free iron levels. The differentiated cytotrophoblast cell in culture is used as a model for this maternal-fetal interface. Cytotrophoblast cells isolated from term placentae are cultured in iron-poor (Medium 199), iron-depleted [desferrioxamine(DFO)] and iron-supplemented [diferric transferrin (hTF-2Fe), ferric ammonium citrate (FAC)] medium. Distribution and de novo synthesis of isoferritins is studied, together with the cellular iron concentration and the ferritin iron saturation. Compared to ferritin isolated from total placenta, ferritin obtained from villous tissue is enriched with acidic isoforms. This observation is in agreement with measured light (L) to heavy (H) subunit ratios < 1 of de novo synthesized ferritin in cultured cytotrophoblast cells. Neither iron-poor culture medium, nor hTf-2Fe supplemented medium affects the cellular iron or ferritin concentration. FAC increased the cellular ferritin iron saturation and (by synthesis) the acidic isoferritin concentrations. The results strongly suggest, that the term syncytiotrophoblast is able to balance transferrin-mediated iron uptake and iron release. In case of FAC supplementation, the syncytiotrophoblast is unable to keep intracellular iron low, and ferritin synthesis is stimulated. The predominance of acidic ferritins and the preferential synthesis of H subunits can be functionally explained by the established fact that iron incorporation in acidic ferritins is faster due to the presence of ferroxidase centres. Damage by free iron catalysed hydroxyl radical formation is therefore minimized.     

Optimization of a method for simultaneous analysis of cell surface phenotype and cell cycle in human bone marrow and peripheral blood leukocytes by flow cytometry: the value of both internal and external standards

Three different methods for the simultaneous analysis of surface phenotype and DNA quantification were compared. One method, involving the fixation of cells in 70% ethanol, was convincingly superior, both with regard to the CV of the G0G1 peak and the intensity of the DNA labelling. Furthermore, the correlation between the surface antigen densities before and after fixation were high. Experiments evaluating the intraday and the interday variation of the DNA ratio (the mean channel of the G0G1 peak of the sample divided by the mean channel of the G0G1 peak of chicken erythrocytes), documented the former to be small, with S.D. values varying from 0.0 to 0.016, while the latter were considerably higher with S.D. values varying from 0.077 to 0.123. Since the intraday variation of the DNA ratio was consistently low and the interday variation strongly correlated to the position of the red fluorescence test beads, it was possible to minimize the interday variation of the DNA ratio, by calculating the DNA index as the ratio between the DNA ratio of the sample and that of an external control (buffy coat leukocytes). Analyzing normal bone marrow and calculating the DNA index (DI) on the basis of these ratios, the confidence limits of the DI were decreased by more than half the values obtained when DI calculation was based solely on an internal standard, thereby making subsequent ploidy determinations of patient samples more precise. We conclude that this setup of internal and external standards allows accurate determinations of DNA aneuploidy even in an assay where whole cells labelled for surface antigen and DNA content are analyzed.