Implementations of a four-level mechanical architecture for fault-tolerant robots

This paper describes a fault tolerant mechanical architecture with four levels devised and implemented in concert with NASA (Tesar, D. & Sreevijayan, D., Four-level fault tolerance in manipulator design for space operations. In First Int. Symp. Measurement and Control in Robotics (ISMCR '90), Houston, Texas, 20–22 June 1990.) Subsequent work has clarified and revised the architecture. The four levels proceed from fault tolerance at the actuator level, to fault tolerance via in-parallel chains, to fault tolerance using serial kinematic redundancy, and finally to the fault tolerance multiple arm systems provide. This is a subsumptive architecture because each successive layer can incorporate the fault tolerance provided by all layers beneath. For instance a serially-redundant robot can incorporate dual fault-tolerant actuators. Redundant systems provide the fault tolerance, but the guiding principle of this architecture is that functional redundancies actively increase the performance of the system. Redundancies do not simply remain dormant until needed. This paper includes specific examples of hardware and/or software implementation at all four levels.     

Disappearing left atrial vegetation in an intravenous drug abuser

Isolated left atrial mural endocarditis is rare. We report a case where the diagnosis was made clinically and supported by blood cultures and transoesophageal echocardiography. Appropriate intravenous antibiotics were administered and serial transoesophageal echocardiograms helped in monitoring the decrease in size and final disappearance of the vegetation, thus avoiding the need for surgical intervention.     

Nature-nurture in the classroom: entrance age, school readiness, and learning in children

The impact of entrance age on reading and mathematics achievement in 1st grade was examined. Methodological problems with past research were identified, including small size of achievement differences, failure to take background variables into account, and confusion of achievement levels with degree of learning. Using a pre-post design, growth of reading and mathematics was examined in younger 1st graders, older 1st graders, and older kindergarteners. Comparisons of background information on these groups with children who were either held out prior to or retained an extra year in kindergarten, produced minimal background differences. Results revealed that younger 1st graders made as much progress over the school year as did older 1st graders and made far more progress than older kindergarteners. Overall, findings demonstrated that, in itself, entrance age was not a good predictor of learning or academic risk.     

Post-traumatic stress disorder and smoking: a systematic review.

We conducted a systematic review of what is known about the relationship between post-traumatic stress disorder (PTSD) and smoking to guide research on underlying mechanisms and to facilitate the development of evidence-based tobacco treatments for this population of smokers. We searched Medline, PsychINFO, and the Cochrane Central Register of Controlled Trials and identified 45 studies for review that presented primary data on PTSD and smoking. Smoking rates were high among clinical samples with PTSD (40%-86%) as well as nonclinical populations with PTSD (34%-61%). Most studies showed a positive relationship between PTSD and smoking and nicotine dependence, with odds ratios ranging between 2.04 and 4.52. Findings also suggest that PTSD, rather than trauma exposure itself, is more influential for increasing risk of smoking. A small but growing literature has examined psychological factors related to smoking initiation and maintenance and the overlapping neurobiology of PTSD and nicotine dependence. Observational studies indicate that smokers with PTSD have lower quit rates than do smokers without PTSD. Yet a few tobacco cessation treatment trials in smokers with PTSD have achieved quit rates comparable with controlled trials of smokers without mental disorders. In conclusion, the evidence points to a causal relationship between PTSD and smoking that may be bidirectional. Specific PTSD symptoms may contribute to smoking and disrupt cessation attempts. Intervention studies that test behavioral and pharmacological interventions designed specifically for use in patients with PTSD are needed to reduce morbidity and mortality in this population.     

Adding Support for Persistence to CLOS via Its Metaobject Protocol

Language-level support for object persistence frees programmers from having to confront a broad class of database issues from within their applications. By virtue of its metaobject protocol, CLOS is a language whose semantics can be tailored by individual programmers. We used the metaobject protocol to extend CLOS with support for object persistence. Our goal was to obtain a version of CLOS with persistence to which we could easily port a commercial geometric CAD modeling system. We describe the design and implementation of our persistence extension and highlight the strengths and weaknesses exhibited by the CLOS metaobject protocol during our experiment. For many aspects of the implementation we found that the metaobject protocol was ideal. In other cases we had to choose among paying a large performance penalty, extending the protocol, and bypassing the protocol by modifying the language implementation directly.     

A Practical Cross-Layer Mechanism For Fairness in 802.11 Networks

Many companies, organizations and communities are providing wireless hotspots that provide networking access using 802.11b wireless networks. Since wireless networks are more sensitive to variations in bandwidth and environmental interference than wired networks, most networks support a number of transmission rates that have different error and bandwidth properties. Access points can communicate with multiple clients running at different rates, but this leads to unfair bandwidth allocation. If an access point communicates with a mix of clients using both 1 Mb/s and 11 Mb/s transmission rates, the faster clients are effectively throttled to 1 Mb/s as well. This happens because the 802.11 MAC protocol approximate “station fairness”, with each station given an equal chance to access the media. We provide a solution to provide “rate proportional fairness”, where the 11 Mb/s stations receive more bandwidth than the 1 Mb/s stations. Unlike previous solutions to this problem, our mechanism is easy to implement, works with common operating systems and requires no change to the MAC protocol or the stations. Joseph Dunn received an M.S. in computer science from the University of Colorado at Boulder in 2003, and B. S. in coputer science and mathematics from the University of Arizona in 2001. His research interests are in the general area of computer systems, primarily focusing on security and scalability in distributed systems. He is currently working on his Ph.D. in computer science from the University of Colorado at Boulder. Michael Neufeld received a Ph.D. in Computer Science from the University of Colorado at Boulder in December of 2004, having previously received an M.S. in Computer Science from the University of Colorado at Boulder in 2000 and an A.B. in Computer Science from Princeton University in 1993. His research interests are in the general area of computer system, specifically concentrating on wireless networking, software defind/cognitive radio, and streerable antennas. He is currently a postdoc in the Computer Science department at the University of Calorado at Boulder pursuing research related to software defined radio and new MAC protocols for steerable phase array antennas. Anmol Sheth is a Ph.D. student in Computer Science at the University of Colorado at Boulder. He received his B.S. in Computer Science from the University of Pune, India in 2001. He has been co-leading the development of the MANTIS operating system. He has co-authored three papers include MAC layer protocol design, energy-efficient wireless communication, and adapting communications to mobility. Dirk Grunwald received his Ph.D. from the University of Illinois in 1989 and joined the University of Colorado the same year. His work addresses research and teaching in the broad area of “computer systems”, which includes computer architecture, operating systems, networks, and storage systems. His interests also include issues in pervasive computing, novel computing models, and enjoying the mountains. He is currently an Associate Professor in the Department of Computer Science and in Electrical and Computer Engineering and is also the Director of the Colorado Center for Information Storage. John Bennett is a Professor of Computer Science with a joint appointment in Electrical and Computer Engineering at the University of Colorado at Boulder. He also serves as Associate Dean for Education in the College of Engineering and Applied Science. He joined the CU-Boulder faculty in 2000, after serving on the faculty of Rice University for 11 years. While at Rice, Bennett pioneered a course in engineering design for both engineering and non-engineering students that has been emulated at several universities and high schools. In addition to other teaching awards, Bennett received the Keck Foundation National Award for Engineering Teaching Excellence for his work on this course. Bennett received his Ph.D. in 1988 from the University of Washington. Prior to completing his doctoral studies, he was a U.S. Naval Officer for several years and founded and served as President of Pacific Mountain Research, Inc., where he supervised the design and development of a number of commercial computing systems. Bennett's primary research interests are broadly focused in the area of distributed systems, and more narrowly in distributed information management and distributed robotic macrosensors.     

Structured Parallel Architecture for Displacement MIMO Kalman Equalizer in CDMA Systems

A reduced complexity MIMO Kalman equalizer architecture is proposed in this brief by jointly considering the displacement structure and the block-Toeplitz structure. Numerical matrix-matrix multiplications with O(F³) complexity are eliminated by simple data loading process, where F is the spreading factor. Finally, an iterative Conjugate-Gradient based algorithm is proposed to avoid the inverse of the Hermitian symmetric innovation covariance matrix in Kalman gain processor. The proposed architecture not only reduces the numerical complexity from O(F²) to O(Flog₂F) per chip, but also facilitates the parallel and pipelined VLSI implementation in real-time processing     

3D Micro-PIXE at atmospheric pressure: A new tool for the investigation of art and archaeological objects

The paper describes a novel experiment characterized by the development of a confocal geometry in an external Micro-PIXE set-up. The position of X-ray optics in front of the X-ray detector and its proper alignment with respect to the proton micro-beam focus provided the possibility of carrying out 3D Micro-PIXE analysis. As a first application, depth intensity profiles of the major elements that compose the patina layer of a quaternary bronze alloy were measured. A simulation approach of the 3D Micro-PIXE data deduced elemental concentration profiles in rather good agreement with corresponding results obtained by electron probe micro-analysis from a cross-sectioned patina sample. With its non-destructive and depth-resolving properties, as well as its feasibility in atmospheric pressure, 3D Micro-PIXE seems especially suited for investigations in the field of cultural heritage.