Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS) guidance method for robust path following of snake robots. Firstly, finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity. The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately. In our method, the des...     

Determinants of metabolic acidosis among hemodialysis patients

Metabolic acidosis is frequently present, poorly controlled, and associated with adverse effects among hemodialysis patients. Potential determinants of metabolic acidosis include endogenous acid production, administration of alkali, neutralization of acid by buffers, dilution of serum bicarbonate by interdialytic fluid gain, and loss of bicarbonate in stool. Understanding the relative importance of these determinants may help guide efforts to manage metabolic acidosis. We used chart abstraction, patient interviews, and laboratory testing to assess variables related to acid production (protein breakdown), alkali administration (dialysis dose, missed treatments, dialysate bicarbonate concentration, oral bicarbonate supplements), acid buffering (phosphorus binders), dilution of bicarbonate (interdialytic weight gain), and loss of bicarbonate in stool (diarrhea) for 190 randomly selected patients from 44 hemodialysis facilities. We used multivariate analyses to determine which potential determinants were independently associated with predialysis serum bicarbonate levels. Of all patients, 30% had metabolic acidosis (serum bicarbonate level <22 mEq/L). On multivariate analysis, metabolic acidosis was more likely with increased protein nitrogen appearance (odds ratio [OR] 1.60 per 0.2 g/kg/day, p=0.001) and less likely with increased Kt/V (OR 0.61 per 0.20 increase in Kt/V, p<0.001) and with increased calcium carbonate use (OR 0.38 per 2 g/day, p=0.003). Key determinants of metabolic acidosis among hemodialysis patients are protein breakdown, dialysis dose, and specific phosphorus binders. Further work is needed to develop interventions to address these determinants.     

Knowledge Mapping: Getting Started with Knowledge Management

Knowledge mapping can be a powerful tool for CIOs in implementing knowledge management in their organizations. A knowledge map can bridge the gap between business and information technology (IT) people. It can also capture and integrate the knowledge collected in an initial knowledge management identification process. the value of these initial knowledge maps can then be extended to incorporate the rest of the intellectual capital of an enterprise.     

Overall availability of a robot with internal safety device

We introduce a robot–safety device system composed of a robot with internal (built-in) safety device. The system is characterized by a safety shut-down rule and by the natural feature of standby. In order to obtain the point availability of the twin-system, we introduce a stochastic process endowed with a time-dependent potential satisfying an integro-differential equation. The explicit solution procedure requires the (new) notion of ineffective lifetime – versus – effective lifetime of the robot. The analysis of the long-run availability requires the introduction of a signed measure. As an example, we display a computer-plotted graph of the point availability obtained by inversion of the corresponding Laplace-transform.     

Optimized hand fabricated AFM probes for simultaneous topographical and electrochemical tapping mode imaging

In this work hybrid AFM-electrochemical (SECM) probes to be used in dynamic atomic force microscopy are presented. These nanosensors are hand fabricated from gold microwires using a simple benchtop method. They display proportions close to commercially available silicon and silicon nitride cantilevers giving comparable performance in terms of resolution and imaging stability. The remarkable characteristic of these hybrid nanosensors is that they allow the coupling of 3D imaging ability and versatility of atomic force microscopy with the power of electrochemical methods. Local measurement of electrochemical-activity of a test sample consisting of gold bands functionalized by redox-labeled nanometer-sized polyethylene glycol chains has been achieved with simultaneous imaging of the 3D surface topography at high resolution. These hybrid AFM-SECM tips are capable of sensing local electrochemical currents down to ∼10 fA emphasizing the sensitivity and resolution of this technique.     

Interactive view-dependent rendering over networks

For a client-server based view-dependent rendering system, the overhead of view-dependent rendering and the network latency are major obstacles in achieving interactivity. In this paper, we first present a multiresolution hierarchy traversal management strategy to control the overhead of view-dependent rendering for low-capacity clients. Then we propose a predictive parallel strategy to overcome the network latency for client-server based view-dependent multiresolution rendering systems. Our solution is to make the client process and the server process run in parallel, using the rendering time to cover the network latency. For networks with long round-trip times, we manage to overlap the network latency for one frame with the rendering time for multiple frames. View-parameters prediction is incorporated to make the parallelism of the client and the server feasible. In order to maintain an acceptable view-dependent rendering quality in the network environment, we develop a synchronization mechanism and a dynamic adjustment mechanism to handle the transient network slowdowns and the changes of the network condition. Our experimental results, in comparison with the sequential method, show that our predictive parallel approach can achieve an interactive frame rate while keeping an acceptable rendering quality for large triangle models over networks with relatively long round-trip times.     

Structural stability of linear dynamically varying (LDV) controllers

LDV systems are linear systems with parameters varying according to a nonlinear dynamical system. This paper examines the robust stability of such systems in the face of perturbations of the nonlinear system. Three classes of perturbations are examined: differentiable functions, Lipschitz continuous functions and continuous functions. It is found that in the first two cases the system remains stable. Whereas, if the perturbations are among continuous functions, the closed-loop may not be asymptotically stable, but, instead, is asymptotically bounded with the diameter of the residual set bounded by a function that is continuous in the size of the perturbation. It is also shown that in the case of differential perturbations, the resulting optimal LDV controller is continuous in the size of the perturbation. An example is presented that illustrates the continuity of the variation of the controller in the case of a nonstructurally stable dynamical system.     

Gold nanohole arrays for biochemical sensing fabricated by soft UV nanoimprint lithography

We report on results of fabrication and optical characterisation of sub-250 nm periodic gold nanohole arrays on glass by using UV nanoimprint lithography (UV-NIL) combined with both reactive ion etching (RIE) and Cr/Au lift-off processes. The transmission spectra of the fabricated nanohole gratings were measured for different hole diameters and periods. We also show preliminary results of chemical sensing after surface modification of the gold hole arrays. In agreement with the theoretical prediction, we found that any change in the dielectric index of the surrounding environment of the metallic array produces a transmission peak red shift.