High-level mobility controller for a remotely operated unmanned land vehicle

The U.S. Army Laboratory Command, as part of the Department of Defense Robotics Testbed Program, is developing a testbed for cooperative, real-time control of unmanned land vehicles. The program entails the development and integration of many elements which allow the vehicles to perform both autonomous and teleoperated functions. The National Institute of Standards and Technology (NIST) is supporting this program by developing the vehicle control system using the Real-time Control System (RCS) architecture. RCS is a hierarchical, sensory-based control system, initially developed for the control of industrial robots and automated manufacturing systems. NIST is developing the portions of RCS that control all vehicle mobility functions, coordinate the operations of the other subsystems on the vehicle, and communicate between the vehicle and the remote operator control station. This paper reviews the overall control system architecture, the design and implementation of the mobility and communication functions, and results from recent testing.This work is funded by the U.S. Army Laboratory Command. This paper was prepared by U.S. Government employees and is not subject to copyright. Equipment listings do not imply a recommendation by NIST.     

Medium-term follow-up of the Ionescu-Shiley heterograft valve

Utilizing a questionnaire specifically designed to uncover potential thromboembolic episodes, we personally interviewed 97 patients who underwent valve replacement with the Ionescu-Shiley valve between January, 1977, and June, 1980. In both the aortic and mitral positions, the attrition rate after the first year was low; cumulative survival at 3 to 4 years was 78% (aortic) and 61% (mitral). None of the deaths were attributed to primary valve failure. Patients with aortic prostheses, none of whom were anticoagulated, had a cumulative thromboembolism-free rate of 94% at 3 to 4 years. Patients with mitral prostheses had a thromboembolism-free rate of 71% at 3 to 4 years with 80% of the episodes occurring in patients in atrial fibrillation. Most emboli produced only transient symptoms, and only 1 patient has residual impairment. The Ionescu-Shiley valve performs well in the early years after valve replacement. Anticoagulation should be strongly considered for patients with mitral prostheses who are in atrial fibrillation.     

Differential contributions of majority and minority influence.

Contends that in most studies comparing majority and minority influence, there is an emphasis on influence in the sense of prevailing. Within this context, evidence exists that majorities exert more public influence and that minority influence, when it occurs, tends to operate primarily at the latent level. In the present formulation, it is proposed that the differences between majority and minority influence are more extensive once influence is considered in a broader context and that exposure to persistent minority views fosters greater thought about the issue. Furthermore, this thought tends to be divergent rather than convergent, so that people tend to be better decision makers because they attend to more aspects of the situation and reexamine premises. By contrast, it is proposed that exposure to persistent majority views fosters convergent thinking and leads to an unreflective acceptance of the majority position. Three studies by the author (1976) and by the author and J. Kwan (1985) that directly tested some of the propositions are reviewed, and the formulation is linked to available knowledge in the areas of social cognition, creativity, and problem solving both at the individual and group levels. (64 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Evolution of Extractive Composition During Thermal Treatment of Jack Pine

Abstract

The thermal treatment of wood has many benefits such as better dimensional stability and attractive dark color and does not use toxic chemicals. The resistance against biological decay can be improved when wood is not in contact with ground. On the other hand, after thermal transformation, wood becomes more fragile. The changes of the wood properties are related to the modification of the wood composition. During the thermal treatment, the evaporation of the moisture content is not the only event. Volatile extractives are evacuated from the wood, while new products and by-products of different chemical reactions appear. The comparison of the extracts obtained from untreated and treated wood can help to identify thermo-chemical reactions, taking place during the heat treatment. This article presents the analysis by Gas Chromatography–Mass Spectroscopy (GC-MS), High Performance Liquid Chromatography (HPLC), and Thin Layer Chromatography (TLC) of polar and non-polar extracts of untreated and heat-treated North American Jack pine (Pinus banksiana). The study of the impact of maximum heat treatment temperature on the composition of the Jack pine extracts showed that the major part of extractives leaves the wood under 200°C whereas most of the new products appear only above 200°C. While the extractives of the untreated Jack pine are dominated by non-polar components, the thermo-transformation seems to generate mainly polar compounds. However, presence of water vapor increases the portion of polar extractives in wood. Interestingly, an important decrease of concentration of phenolic compounds (such as pinosylvin, pinosylvin monomethyl ether, and pinobanksin) in Jack pine wood was observed between 160–200°C. On the other hand, 4-hydroxy-methylfurfural and vanillin have been identified as compounds generated by the heat treatment above 200°C. The identification of other by-products will be presented in a later paper.     

Relationship between electroultrafiltration (EUF) extractable nitrogen,grain yield,and optimum nitrogen fertilizer rates for winter wheat

The objective of the investigation was to examine whether there exist relationships between the optimum nitrogen fertilizer rate for winter wheat and soil nitrogen fractions extracted by electroultrafiltration (EUF) from autumn samples of the upper soil layer (0–30 cm). Optimum nitrogen fertilizer rates were derived from grain yield curves of field trials carried out with increasing nitrogen fertilizer rates on 19 different sites in 1985/86 and 1986/87. Most soils were luvisols derived from loess, two soils were brown earths and one a pararendzina. Total Nitrogen fertilizer rates were 0, 40, 80, and 120 kg N/ha applied twice before ear emergence. The final nitrogen rate at ear emergence was the same for all treatments, namely 60 kg N/ha.Optimum nitrogen fertilizer rates were derived from the grain yield curve fitted to a modified Mitscherlich equation. The optimum nitrogen fertilizer rates were correlated with the nitrogen fractions extracted by EUF. The regression equation thus obtained showed that NO ₃ ^- , the organic N fraction (EUF Norg), and the EUF Norg-quotient each had a highly significant impact on the optimum nitrogen fertilizer rate. The higher the amounts of EUF-N extracted the lower the optimum nitrogen rate. Substituting the EUF Norg-fraction for total nitrogen concentration in the upper soil layer gave a poorer relationship between the optimum nitrogen fertilizer rate and the soil data. In absolute terms the EUF Norg-fraction had by far the greatest impact on calculating the optimum nitrogen fertilizer rate. The investigation shows that the EUF method is a suitable technique for the determination of available soil nitrogen from which optimum nitrogen fertilizer rates can be derived for winter wheat cultivated under soil and climatic conditions typical for cereal growing areas in central Europe.     

Computerized axial tomographic reconstruction of coronary tree cross sections from a small number of cineradiographic views

Three-dimensional reconstruction of the coronary tree from a conventional cineangiographic study is limited, in part, by the small number of available cineangiographic views. The potential utility of a maximum entropy iterative algorithm (MENT) for reconstruction of myocardial planes perpendicular to the axis of cineangiographic rotation from a small number (n = 6-18) of cineangiographic views was tested in vitro. The coronary arteries of postmortem human, canine, and calf hearts were filled with a silicone/thorium oxide mold to simulate in vivo angiographic contrast. Thirty-five-millimeter cineradiographs of each heart were obtained at 10 degrees intervals over 180 degrees about a myocardial central axis of rotation under exposure conditions which simulated the clinical setting. Projection data were derived from cinedensitometric scans across the entire myocardial shadow, perpendicular to the axis of rotation in each view, after 512 X 512 digitization with a vidicon camera/digitizer interfaced to a VAX computer. Comparison of MENT-reconstructed images with corresponding anatomic myocardial cross sections indicate that as few as 6 to 12 views can be used to reconstruct the cross sections of the multiple coronary branches (n = 6-11) within a plane of reconstruction.     

Accelerated gastric epithelial proliferation

Gastric body mucosal proliferation was quantified and localised under conditions of increased gastrin drive using a variety of techniques. Rats were given omeprazole 400 mumol/kg/day by gavage and after 30 days mean serum gastrin rose 11-fold (p < 0.001). Total mucosal polyamines rose 220% from 15.9 to 50.9 nmol/mg protein (p < 0.001). This was associated with a 238% increase in crypt cell production rate from 0.541 to 1.83 crypt cells/h by vincristine metaphase arrest (p < 0.02). Using computer aided counting of proliferating cell nuclear antigen (PCNA) immunostained nuclei to assess epithelial proliferation in hypergastrinaemia rat stomach: mucus neck cell PCNA labelling was increased by 41% (p < 0.001) and gland cell PCNA labelling was increased by 222% (p < 0.001). PCNA/AgNOR (argyrophilic nuclear organiser regions) co-stained sections were used to assess proliferative activity in cycling and non-cycling cell populations. Data from these experiments suggest that, in addition to increasing the number of mucosal cells in cycle, cell life and cell cycle duration may be reduced in hypergastrinaemia.     

OAM: an office analysis methodology

OAM is a functionally oriented office analysis methodology which provides guidance in preparing an office study, collecting information from office staff, and organizing and presenting the results. It is well suited to semi-structured offices and provides the appropriate level of detail for making decisions regarding the design and justification of a computerized office information system. An evaluation of OAM by several using organizations shows it to be an efficient, effective, teachable methodology. OAM was perceived by users to improve significantly the functionality of office information systems implemented after an OAM study by comparison with task oriented study methodologies.