Sensor explication: knowledge-based robotic plan execution throughlogical objects

Complex robot tasks are usually described as high level goals, with no details on how to achieve them. However, details must be provided to generate primitive commands to control a real robot. A sensor explication concept that makes details explicit from general commands is presented. We show how the transformation from high-level goals to primitive commands can be performed at execution time and we propose an architecture based on reconfigurable objects that contain domain knowledge and knowledge about the sensors and actuators available. Our approach is based on two premises: 1) plan execution is an information gathering process where determining what information is relevant is a great part of the process; and 2) plan execution requires that many details are made explicit. We show how our approach is used in solving the task of moving a robot to and through an unknown, and possibly narrow, doorway; where sonic range data is used to find the doorway, walls, and obstacles. We illustrate the difficulty of such a task using data from a large number of experiments we conducted with a real mobile robot. The laboratory results illustrate how the proper application of knowledge in the integration and utilization of sensors and actuators increases the robustness of plan execution.     

Antihyperglycemic activity of phenolics from Pterocarpus marsupium

Glucose levels in rats with hyperglycemia induced by streptozotocin were determined after i.p. administration of marsupsin (1), pterosupin (2), and pterostilbene (3), three important phenolic constituents of the heartwood of Pterocarpus marsupium. Marsupsin and pterostilbene significantly lowered the blood glucose level of hyperglycemic rats, and the effect was comparable to that of 1,1-dimethylbiguanide (metformin).     

Comparison of mismatch error shaping in multibit oversampledconverters

A number of mismatch error-shaping schemes for oversampled DACs are compared. Simulation results are presented to show that such a comparison should take account of the distribution of the mismatch errors, since the pattern of errors present affects different algorithms in different ways. A scheme for improving the error tolerance of one mismatch shaping architecture is presented     

Short-pulse, eye-safe Nd:YAG laser using cavity-dumping

A short-pulse 1.444-μm laser based on Nd:YAG technology has been demonstrated. The 1.444-μm is eye-safe. With the cavity-dump technique, a pulse of 50 m× and 14 ns was obtained. The beam quality was excellent with an M² of 1.6 by the use of a telescopic resonator. Silicon-window polarizers were used to suppress the 1.06-μm radiation but showed 1.444-μm absorption as well     

Apolipoprotein A, fibrinogen, age, and history of stroke are predictors of death in dialysed diabetic patients: a prospective study in 412 subjects

BACKGROUND: Diabetic patients with end-stage renal failure (ESRD) have a high cardiovascular morbidity and mortality. The underlying mechanisms are not completely elucidated. The aim of our study was to define predictors of death in diabetic patients with end-stage renal disease. PATIENTS AND METHODS: We performed a prospective study in 35 dialysis centres in Germany between 1985 and 1994. To evaluate predictors and risk factors in this population we examined 412 diabetic patients at the time of admission to dialysis treatment (peritoneal dialysis (PD) or haemodialysis (HD)). Classification of the type of diabetes was done according the criteria of the National Diabetes Data Group [1,2]. Items assessed at the time of admission were coronary artery disease (CAD), peripheral occlusive disease (POD), and stroke. CAD was defined as a history of myocardial infarction with the corresponding changes in the ECG or luminal narrowing by more than 50% in at least one coronary artery upon coronarangiography; POD was defined as claudication and/or brachial-tibial ratio (BTR) less than 0.9 or a history of amputation. Assessment of the nutritional state comprised body mass index, skinfold thickness of the upper arm and lateral thorax area, and urea concentration. Cholesterol, HDL, LDL, apolipoprotein A (ApoA-I) and B (ApoB), triglycerides, lipoprotein(a) (Lp(a)), and fibrinogen were measured. As an index of disturbed cardiac innervation beat-to-beat variation was measured. Outcome measurements were causes of death (i.e. cardiac and non-cardiac) and time of survival. RESULTS: One hundred and eighty of 412 (44%) patients died during the observation period. Patients who died were older (61 +/- 12 versus 53 +/- 15 years P < 0.0001), had lower skin fold thickness (13.1 +/- 6.0 versus 15.1 +/- 7.3 mm P < 0.04), lower ApoA-I (100 +/- 35 versus 111 +/- 32 mg/dl P < 0.005) and higher fibrinogen (515 +/- 146 versus 451 +/- 155 mg/dl P < 0.02). Type II diabetic patients had a lower mean survival time than type I (34 versus 66 months P < 0.0006). The mode of renal replacement therapy (PD or HD) had no adverse effect on survival time. Survivors less frequently had a history of CAD, POD and stroke than non-survivors. In multivariate analysis ApoA-I, fibrinogen, age and stroke were independent predictors of cardiac and non-cardiac death in diabetic patients with end-stage renal failure. Lipid values and nutritional state did not independently predict the overall and cardiovascular mortality. CONCLUSION: This study in dialysed diabetic patients identifies several predictors of death, some of which are susceptible to intervention.     

Mesopore development in PAN-ACF resulting from non-metal additives

The narrow pore-size distribution of activated carbon fibres (ACF) limits their application in the fields concerning larger molecules, such as liquid adsorption and catalyst support. On the addition of carbon particles and organic materials to polyacrylonitrile fibres, and after stabilizing and activating, the mesoporosity in the resultant ACF has been obviously increased. Among these additives, carbon black gives the best effect. With 1 wt% carbon black I in precursor and on activating at 880°C for 30 min, a mesoporosity of 48.2% (total pore volume 0.704 ml g-1, mesopore volume 0.340 ml g-1) has been obtained. The mechanism of mesopore formation is also discussed. This revised version was published online in November 2006 with corrections to the Cover Date.     

Wideband wattmeter based on RMS voltage measurements

A wideband wattmeter for measuring active power over a frequency range of dc to 500 kHz is described. The wattmeter is based on the three-voltmeter method in which three rms voltage measurements are used to calculate power. The wattmeter active power uncertainty is estimated to be within 0.03% from dc to 20 kHz and within 1.5% to 500 kHz     

Radiation and scattering from ferrite-tuned cavity-backed slotantennas: theory and experiment

A three-dimensional finite-element method hybridized with the spectral/spatial domain method of moments is presented for the analysis of ferrite-tuned cavity-backed slot antennas. The cavity, which is partially filled with magnetized ferrite layers, is flush mounted on an infinite ground plane with possible dielectric or magnetic overlay. The antenna operates primarily in the ultrahigh-frequency band. The finite-element method is used to solve for the electric-field distribution inside the cavity, whereas the spectral-domain approach is used to solve for the exterior region. An asymptotic extraction of the exponential behavior of the Green's function followed by a spatial evaluation of the resulting integral is used to improve computational speed. Radar cross section, input impedance, return loss, gain, and efficiency of ferrite-tuned cavity-backed slots (CBS) are calculated for various biasing conditions. Numerical results are compared with experimental data