Graphbots: cooperative motion planning in discrete spaces

Most previous theoretical work on motion planning for a group of robots has addressed the problem of path planning for the individual robots sequentially, in geometrically simple regions of Euclidean space (e.g. a planar region containing polygonal obstacles). In this paper, we define a version of the motion-planning problem in which the robots move simultaneously. We establish conditions under which a team of robots having a particular configuration can move from any start location to any goal destination in a graph-structured space. We show that, for a group of robots that maintain a fixed formation, we can find the “shortest” path in polynomial time, and we give faster algorithms for special kinds of environments     

Two-dimensional phase unwrapping using a minimum spanning treealgorithm

Phase unwrapping refers to the determination of phase from modulo 2pi data, some of which may not be reliable. In 2D, this is equivalent to confining the support of the phase function to one or more arbitrarily shaped regions. A phase unwrapping algorithm is presented which works for 2D data known only within a set of nonconnected regions with possibly nonconvex boundaries. The algorithm includes the following steps: segmentation to identify connectivity, phase unwrapping within each segment using a Taylor series expansion, phase unwrapping between disconnected segments along an optimum path, and filling of phase information voids. The optimum path for intersegment unwrapping is determined by a minimum spanning tree algorithm. Although the algorithm is applicable to any 2D data, the main application addressed is magnetic resonance imaging (MRI) where phase maps are useful.     

Effect of sinus surgery on pulmonary function in patients with cystic fibrosis

The rare case of neurilemmoma of the larynx was presented. The difficulties in histopathologic diagnosis of such tumors were emphasized. The tumor was removed by surgery from external approach.     

Prophylactic effects of recombinant human superoxide dismutase in neonatal lung injury

To determine if recombinant human Cu-Zn superoxide dismutase (rhSOD) would prevent acute lung injury caused by hyperoxia and barotrauma, 26 newborn piglets were studied. Ten piglets were hyperventilated (arterial PCO2 15-20 Torr) with 100% O2 for 48 h. A second group received identical treatment for 4 h (n = 2) or 48 h (n = 8) but was given 5 mg/kg of rhSOD intratracheally at time 0. Six piglets were normally ventilated (arterial PCO2 40-45 Torr) for 48 h with 21% O2. Pulmonary function and tracheal aspirates were examined at time 0 and at 24 and 48 h, and bronchoalveolar lavage was performed at 48 h. In piglets treated with hyperoxia and hyperventilation, lung compliance decreased 42%, and tracheal aspirates showed an increase in neutrophil chemotactic activity (32%), total cell counts (135%), elastase activity (93%), and albumin concentration (339%) over 48 h (P < 0.05). All variables were significantly lower in rhSOD-treated piglets and comparable to normoxic control values. Surfactant remained active in all groups. Immunohistochemistry demonstrated that at 48 h significant rhSOD was distributed homogeneously in terminal airways. Adding rhSOD to tracheal aspirates of hyperoxic hyperventilated piglets did not alter neutrophil chemotaxis, suggesting that rhSOD protected the lung by reducing the production of chemotactic mediators. Results indicate that acute lung injury caused by 48 h of hyperoxia and hyperventilation is significantly ameliorated by prophylactic intratracheal administration of rhSOD.     

Determining protein loop conformation using scaling-relaxation techniques

We recently developed a rapid loop closure algorithm in which bond lengths are scaled to constrain the ends of a segment to match a known distance and then gradually relaxed to their standard values, with boundary constraints maintained. Although the algorithm predicted the Zif286 zinc-finger loop to within approximately 2 A, it had a serious limitation that made its more general use tentative: it omitted the atomic environment of the loop. Here we report an extension of the algorithm to take into account the protein environment surrounding a given loop from the outset of the conformational search and show that it predicts structure with an efficiency and accuracy that could not be achieved without continuous environmental inclusion. The algorithm should be widely applicable to structure determination when complete experimental information is unavailable.     

Gas release during wear I. The phenomenon and preparations for identification

Experiments on the sliding wear phenomena of bearing materials with solid particles in the oil film have revealed that with a tin-aluminium alloy gas is released. However this did not occur with white metal or copper-lead. Gas was again released when clean oil was used. One analysis of the released gas by mass spectroscopy showed it to consist chiefly of air with a small percentage of hydrogen, several orders of magnitude higher than normally found in dry air.Gas is also released by scratching aluminium, zinc and a magnesium alloy in straight mineral lubricating oil, liquid paraffin, silicone oil as-received or dried, and also in glycerol and water. Copper, brass, white metal, mild steel and titanium showed very little or no gas evolution.The literature on the effect of hydrogen on rolling bearing life is briefly reviewed and the possible effect of hydrogen on sliding wear is discussed.     

Robust regression methods for computer vision: A review

Regression analysis (fitting a model to noisy data) is a basic technique in computer vision, Robust regression methods that remain reliable in the presence of various types of noise are therefore of considerable importance. We review several robust estimation techniques and describe in detail the least-median-of-squares (LMedS) method. The method yields the correct result even when half of the data is severely corrupted. Its efficiency in the presence of Gaussian noise can be improved by complementing it with a weighted least-squares-based procedure. The high time-complexity of the LMedS algorithm can be reduced by a Monte Carlo type speed-up technique. We discuss the relationship of LMedS with the RANSAC paradigm and its limitations in the presence of noise corrupting all the data, and we compare its performance with the class of robust M-estimators. References to published applications of robust techniques in computer vision are also given.     

A model for the trap-assisted tunneling mechanism in diffused n-pand implanted n+-p HgCdTe photodiodes

A theoretical model for the trap-assisted tunneling process in diffused n-on-p and implanted n⁺-on-p HgCdTe photodiodes is presented. The model describes the connection between the leakage current associated with the traps and the trap characteristics: concentration, energy level, and capture cross sections. It was observed that the above two types of diodes differ in the voltage dependence of the trap-assisted tunneling current and dynamic resistance. The model takes this difference into account and offers an explanation of the phenomenon. The good fit between measured and calculated DC characteristics of the photodiodes (for medium and high reverse bias and for temperatures from 65 to 140 K) supports the validity of the model     

Insulin-like growth factor binding protein production in human follicular thyroid carcinoma cells

OBJECTIVE: The study investigated the value of using national or regional data bases to examine care in a specific hospital. DATA SOURCES: The following data sources were included: (1) the results of the 1992 HCFA analysis of the index hospital for patients hospitalized in fiscal year 1990; (2) the 1989 Medicare Provider Analysis and Review (MEDPAR) file; and (3) clinical information from bypass surgery patients in Wisconsin and from the index hospital. PRINCIPAL FINDINGS: The assessment of the mortality rates in the index hospital for all conditions combined and for CABG patients differed depending on what data base was used and how the data were analysed. The national data were most useful in establishing that the coding practices for all patients and the mortality rate for intra-aortic balloon patients differed between the index hospital and other hospitals. The regional clinical data base for bypass surgery patients was used to establish that the high mortality rates for intra-aortic balloon patients were due to patient selection. CONCLUSIONS: National claims data must be analysed carefully before applying results to an individual hospital. Even a careful analysis is more for raising questions about care at a specific hospital rather than for reaching definitive conclusions.     

Insulation lead failure: is it a matter of insulation coating, venous approach, or both?

Gag gene mutants of human immunodeficiency virus type 1 (HIV-1) were analyzed for their potentials of inhibiting the replication of wild-type (wt) HIV-2, the second AIDS virus, in a single-round of viral replication. Of twenty-two HIV-1 gag mutants examined, seven were found to efficiently interfere with the replication of wt HIV-2. Some mutants, which can suppress the replication of wt HIV-1, did not show this inhibitory effect. These mutants were defective at the late phase of viral replication. A mutant designated NL-C1a was demonstrated to be very effective against the replication of HIV-1 and HIV-2 in monocytic cells as well as in lymphocytic cells.