A purely reactive navigation scheme for dynamic environments using Case-Based Reasoning

This paper presents a new sonar based purely reactive navigation technique for mobile platforms. The method relies on Case-Based Reasoning to adapt itself to any robot and environment through learning, both by observation and self experience. Thus, unlike in other reactive techniques, kinematics or dynamics do not need to be explicitly taken into account. Also, learning from different sources allows combination of their advantages into a safe and smooth path to the goal. The method has been succesfully implemented on a Pioneer robot wielding 8 Polaroid sonar sensors. Cristina Urdiales is a Lecturer at the Department of Tecnología Electrónica (DTE) of the University of Málaga (UMA). She received a MSc degree in Telecommunication Engineering at the Universidad Politécnica de Madrid (UPM) and her Ph.D. degree at University of Málaga (UMA). Her research is focused on robotics and computer vision. E.J. Pérez was born in Barcelona, Spain, in 1974. He received his title of Telecommunication Engineering from the University of Málaga, Spain, in 1999. During 1999 he worked in a research project under a grant by the Spanish CYCIT. From 2000 to the present day he has worked as Assistant Professor in the Department of Tecnología Electrónica of the University of Málaga. His research is focused on robotics and artificial vision. Javier Vázquez-Salceda is an Associate Researcher of the Artificial Intelligence Section of the Software Department (LSI), at the Technical University of Catalonia (UPC). Javier obtained an MSc degree in Computer Science at UPC. After his master studies he became research assistant in the KEMLg Group at UPC. In 2003 he presented his Ph.D. dissertation (with honours), which has been awarded with the 2003 ECCAI Artificial Intelligence Dissertation Award. The dissertation has been also recently published as a book by Birkhauser-Verlag. From 2003 to 2005 he was researcher in the Intelligent Systems Group at Utrecht University. Currently he is again member of the KEMLg Group at UPC. His research is focused on theoretical and applied issues of Normative Systems, software and physical agents' autonomy and social control, especially in distributed applications for complex domains such as eCommerce or Medicine. Miquel Sànchez-Marrè (Barcelona, 1964) received a Ph.D. in Computer Science in 1996 from the Technical University of Catalonia (UPC). He is Associate Professor in the Computer Software Department (LSI) of the UPC since 1990 (tenure 1996). He was the head of the Artificial Intelligence section of LSI (1997–2000). He is a pioneer member of International Environmental Modelling and Software Society (IEMSS) and a board member of IEMSS also, since 2000. He is a member of the Editorial Board of International Journal of Applied Intelligence, since October 2001. Since October 2004 he is Associate Editor of Environmental Modelling and Software journal. His main research topics are case-based reasoning, machine learning, knowledge acquisition and data mining, knowledge engineering, intelligent decision-support systems, and integrated AI architectures. He has an special interest on the application of AI techniques to Environmental Decision Support Systems. Francisco Sandoval was born in Spain in 1947. He received the title of Telecommunication Engineering and Ph.D. degree from the Technical University of Madrid, Spain, in 1972 and 1980, respectively. From 1972 to 1989 he was engaged in teaching and research in the fields of opto-electronics and integrated circuits in the Universidad Politécnica de Madrid (UPM) as an Assistant Professor and a Lecturer successively. In 1990 he joined the University of Málaga as Full Professor in the Department of Tecnología Electrónica. He is currently involved in autonomous systems and foveal vision, application of Artificial Neural Networks to Energy Management Systems, and in Broad Band and Multimedia Communication.     

Simon effect with and without awareness of the accessory stimulus.

The authors investigated whether a Simon effect could be observed in an accessory-stimulus Simon task when participants were unaware of the task-irrelevant accessory cue. In Experiment 1A a central visual target was accompanied by a suprathreshold visual lateral cue. A regular Simon effect (i.e., faster cue-response corresponding reaction times [RTs]) was found. Experiment 1B demonstrated that this effect cannot be attributed to perceptual grouping of the target and cue. Experiments 2A, 2B, and 2C showed a reverse Simon effect (i.e., faster noncorresponding RTs) when participants were not aware of the cue. In this condition, the Simon effect would occur relative to the reorientation of attention from the cue, which would initially capture attention, toward the target. This conclusion is supported by the results of Experiments 3A and 3B, in which the reorientation of attention was induced by having the target flash after its onset. With suprathreshold cues either a reverse or regular Simon effect was observed by using a 100-ms or ≥200-ms onset flashing interval, respectively, whereas with subthreshold cues a reverse Simon effect was found irrespective of the interval length. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Adaptive Sampling Methods for Scaling Up Knowledge Discovery Algorithms

Scalability is a key requirement for any KDD and data mining algorithm, and one of the biggest research challenges is to develop methods that allow to use large amounts of data. One possible approach for dealing with huge amounts of data is to take a random sample and do data mining on it, since for many data mining applications approximate answers are acceptable. However, as argued by several researchers, random sampling is difficult to use due to the difficulty of determining an appropriate sample size. In this paper, we take a sequential sampling approach for solving this difficulty, and propose an adaptive sampling method that solves a general problem covering many actual problems arising in applications of discovery science. An algorithm following this method obtains examples sequentially in an on-line fashion, and it determines from the obtained examples whether it has already seen a large enough number of examples. Thus, sample size is not fixed a priori; instead, it adaptively depends on the situation. Due to this adaptiveness, if we are not in a worst case situation as fortunately happens in many practical applications, then we can solve the problem with a number of examples much smaller than required in the worst case. We prove the correctness of our method and estimates its efficiency theoretically. For illustrating its usefulness, we consider one concrete task requiring sampling, provide an algorithm based on our method, and show its efficiency experimentally.     

Objective quantification of the motion of soft tissues in the orbit

Orbital soft-tissue motion analysis aids in the localization and diagnosis of orbital disorders. A technique has been developed to objectively quantify and visualize motion in the orbit during gaze. T1-weighted MR volume sequences are acquired during gaze and soft-tissue motion is quantified using optical flow techniques. The flow field is visualized using color-coding: orientation of the flow vector is coded by hue and magnitude by saturation of the pixel. Current clinical circumstances limit MR image acquisition to short sequences and short acquisition times. The effect of these limitations on the performance of optical flow computation has been studied for four representative optical flow algorithms: on short (nine frames) and long (21 frames) simulated sequences of rotation of a magnetic resonance (MR) imaged object, on short measured MR sequences of controlled rotation of the same object and on short MR sequences of motion in the orbit. On the short simulated and motion-controlled sequences, the Lucas and Kanade algorithm showed the best performance with respect to both accuracy and robustness. These motion estimates were accurate to within 20%. Motion in the orbit ranged between 0.05 and 0.25 mm/degree gaze. Color-coding was found to be attractive as a visualization technique, because it shows both magnitude and orientation of all flow vectors without cluttering.     

Characterization of fire-refined copper recycled from scrap

Certain properties of fire-refined copper recycled from scrap have been characterized. A method is presented to calculate the half-softening temperature and the annealing temperature that allows 30% elongation to failure, hereinafter referred to as _30% temperature, on the basis of hardness measurements. The relation between ultimate strain and ultimate elongation has been studied and is described by a mathematicale xpression that seems to be independent of copper composition and annealing temperature. The microstructure of annealed samples reveals that recrystallization begins at half-softening temperature, and is ending at _30% temperature, although grain growth is not observed. An optimal range of oxygen content has been found that gives the minimum _30% temperature for each studied composition, and a mathematical expression with which to calculate those minimum temperatures is developed. The influence of cold-working degree on _30% temperature is also described; these temperatures reach a constant minimum value for each composition at high deformation degrees of cold-working.     

AC losses in multilayer superconducting tapes

ac losses have been investigated experimentally as well as theoretically in tapes having on the surface several normal conducting and/or superconducting layers. The superconducting layers under investigation have been Nb₃Sn on a niobium substrate and Nb₃Ge on a stainless steel substrate. It has been proved that the layered structure of the tapes is well reflected by the stepwise character of the ac losses dependence on the amplitude of the surface magnetic field. The magnetic flux passing through a surperconducting layer or surface barrier into the inside of the tape enhances the losses in the passed barrier or layer.     

Bacteremic pneumonia in neutropenic patients with cancer: causes, empirical antibiotic therapy, and outcome

BACKGROUND: Bacteremic pneumonia is a major cause of death among neutropenic patients with cancer. METHODS: We analyzed the causes, empirical antibiotic therapy, and outcome of 40 consecutive cases of bacteremic pneumonia identified among 408 episodes of bacteremia in adult neutropenic patients with cancer, prospectively documented from 1986 to 1995. RESULTS: The most frequent causative organisms were Pseudomonas aeruginosa (17 cases), Streptococcus pneumoniae (12 cases), Escherichia coli (5 cases), and Streptococcus mitis (3 cases). Overall, P. aeruginosa and S. pneumoniae caused 72.5% of all episodes of bacteremic pneumonia, compared with 11.4% of bacteremic episodes from other sources (P< .001). Thirty patients received ceftazidime and 10 patients received imipenem as the beta-lactam component of the initial empirical treatment. All strains of P. aeruginosa were susceptible to both agents. Forty-seven percent of streptococcal strains were penicillin resistant and showed a decreased susceptibility to ceftazidime (minimum inhibitory concentration ranged from 1 to 64 microg/mL). Five patients (12.5%) were considered to have received inappropriate empirical antibiotic therapy. Attributable mortality in patients with bacteremic pneumonia was higher than in patients with bacteremia from other sources; 22 (55%) of the 40 patients with bacteremic pneumonia died, whereas 39 (10.6%) of the 368 patients with bacteremia from other sources died (P<.001). CONCLUSIONS: Our data suggest that bacteremic pneumonia in neutropenic cancer patients is associated with a poor outcome and that empirical antibiotic therapy for neutropenic patients with pneumonia should include agents active against both P. aeruginosa and cephalosporin-resistant streptococci.     

Primary epiploic appendagitis: US and CT findings

A retrospective review is presented of seven cases of epiploic appendagitis, with surgical confirmation in one case. The main clinico-analytical data and the US and CT findings are described, as well as the histopathologic features in the sole case that underwent surgical resection. We also calculated the frequency of this entity in patients undergoing emergency abdominal US on clinical suspicion of diverticulitis. In all seven cases the clinico-analytical evidence was nonspecific (localized acute abdominal pain and slight leukocytosis), mimicking in six cases the clinical presentation of sigmoid diverticulitis and in one case that of acute appendicitis. US imaging findings were characteristic: a hyperechoic mass localized under the point of maximum pain, adjacent to the anterior peritoneal wall and fixed during deep breathing. In none of the cases did color Doppler US show flow. CT findings were also typical and showed a mass with a peripheral hyperattenuated rim surrounding an area of fatty attenuation. Overall 7.1 % of patients investigated to exclude sigmoid diverticulitis finally showed findings of primary epiploic appendagitis. Primary epiploic appendagitis thus shows characteristic US and CT findings that allow its diagnosis and follow-up. This entity is much more frequent than previously reported, especially in patients referred for US to exclude sigmoid diverticulitis.     

Hemodynamic changes in patients developing effective hypovolemia after total paracentesis

BACKGROUND/AIMS: In many centers paracentesis is considered the treatment of choice for tense ascites. However, the mechanism of effective hypovolemia after paracentesis, the main complication associated with this procedure, remains unknown. In the current study, systemic hemodynamics was sequentially studied before and after total paracentesis in 46 patients with cirrhosis and tense ascites. The aim of the study was to assess the mechanism of effective hypovolemia after paracentesis. METHODS: Plasma renin activity and aldosterone, mean arterial pressure, cardiac output (ECO-Doppler) and systemic vascular resistance were measured before, and 3 h, 6 h and 6 days after total paracentesis associated with plasma volume expansion. RESULTS: Effective hypovolemia after paracentesis (defined as 50% increase in plasma renin activity up to a level over 4 ng x m(-1) x h(-1) at the 6th day after paracentesis) occurred in 20 cases [plasma renin activity increased from 8+/-17 to 19+/-2.7 ng x m(-1) x h(-1)]. In the remaining 26 cases no changes in plasma renin activity [8.5+/-2.4 vs. 8.7+/-2.2 ng x m(-1) x h(-1)] were observed. The amounts of ascitic fluid volume removed were similar. Effective hypovolemia after paracentesis was associated with a significant decrease in mean arterial pressure (89+/-2 vs. 81+/-3 mmHg) and systemic vascular resistance [1263+/-67 vs. 1014+/-80 dyn x s(-1) x cm(-5)] 6 days after treatment. In contrast, no significant changes in these parameters were observed in patients not developing this complication. In the whole group of patients a significant inverse relation was observed between changes in plasma renin activity and in systemic vascular resistance (r=0.74;p< 0.001). CONCLUSIONS: These results indicate that effective hypovolemia after paracentesis in cirrhosis is predominantly due to an accentuation of the arteriolar vasodilation already present in these patients.