The dynamic effects and compensation of load transitions in robotic systems

The problem of a robot handling a payload typically involves pre-load, load, and post-load stages, and payload transitions between these stages. Although considerable work has focused on the control of robots carrying payloads, few consider the problem of load transitions—one of the most important effects on system performance. This article studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed that takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation. © 1994 John Wiley & Sons, Inc.     

Argon I Lines Produced in a Hollow Cathode Source, 332 nm to 5865 nm

We report precision measurements by Fourier transform spectroscopy of the vacuum wavenumber, line width, and relative signal strength of 928 lines in the Ar I spectrum. Wavelength in air and classification of the transition are supplied for each line. A comparison of our results with other precision measurements illustrates the sensitivity of Ar I wavelengths to conditions in the light source.     

Emotional responding following experimental manipulation of facial electromyographic activity.

Thirty female subjects were instructed to imagine three positive affective scenes and three negative affective scenes. During the initial imagination of each scene, the subject was told simply to imagine the situation. The subject then imagined the situation again and was instructed to enhance the muscle tension in one of two muscle groups (the zygomatic muscles for positive scenes and the corrugator muscle for negative scenes). The subject then imagined the scene a third time and was instructed to suppress the muscle tension in the same muscle group. Feedback was available during practice trials and during the enhancement and suppression trials of the experiment. Continuous monitoring of both zygomatic and corrugator electromyogram (EMG) during the study indicated that subjects were successful in altering muscle tension in accord with the experimental instructions, and videotapes of subjects' faces indicated no overt changes in facial responding during imagination of the scenes. Subjects' ratings of emotional responding during each scene indicated that subjects experienced less enjoyment and more distress during positive affective trials in which they suppressed zygomatic EMG activity. The results are discussed in terms of the facial feedback hypothesis. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Complex radiation diagnosis of retroperitoneal tumors and tumor-like states

The paper presents the results of complex radiation diagnosis of 118 cases of retroperitoneal tumors and tumor-like states, including 71 patients with tumors of mesenchymal origin, 7 with those of neurogenic origin, 6 with cysts, 9 with lymphogranulomatosis, 8 with retroperitoneal fibrosis, 12 with metastases, and 5 with hematomas. A wide complex of routine and up-to-date high-technology radiation diagnostic techniques was used to study the patients. The authors show the merits and dismerits of each technique. Greatest attention is given to the assessment of current techniques, primarily to ultrasonography (US) and computed tomography (CT). The studies have indicated that despite some specific features, many retroperitoneal tumors and tumor-like states bear similarities when various radiation methods are employed. The authors describe some syndromes which can be used to make a diagnosis. Despite the high capacities of US and CT in studying the normal and pathological structures of the human body, there are still great difficulties in differentiating different abnormalities when even the latest techniques are applied, these cases need paracentic aspiration or open biopsy.     

A prospective study of the efficacy of the physician order form for life-sustaining treatment

OBJECTIVES: The Physician Orders for Life-Sustaining Treatment (POLST), a comprehensive, one-page order form, was developed to convey preferences for life-sustaining treatments during transfer from one care site to another. This study examined the extent to which the POLST form ensured that nursing home residents' wishes were honored for Do Not Resuscitate (DNR) and requests for transfer only if comfort measures fail. DESIGN: The study used chart record data to follow prospectively a sample of nursing home residents with the POLST. SETTING: Eight geographically diverse, long-term, adult-care facilities in Oregon in which the POLST was in use. PARTICIPANTS: Nursing home residents (n = 180), who had a POLST recording DNR designation and who indicated a desire for transfer only if comfort measures failed, were followed for 1 year. MEASUREMENTS: For all subjects: treatment and disposition after significant health status changes; orders for narcotics and for provision or limitation of aggressive interventions. For hospitalized subjects: diagnosis, medical interventions, and DNR orders. For those who died: cause and location of death, life-sustaining treatments attempted, and comfort measures provided. RESULTS: No study subject received CPR, ICU care, or ventilator support, and only 2% were hospitalized to extend life. Of the 38 subjects who died during the study year, 63% had an order for narcotics, and only two (5%) died in an acute care hospital. A total of 24 subjects (13%) were hospitalized during the year. Hospitalized subjects' mean length of stay was 4.9 days, and the mean rate of hospitalizations for all subjects was 174 per 1000 resident years. In 85% of all hospitalizations, patients were transferred because the nursing home could not control suffering. In 15% of hospitalizations (n = 4), the transfer was to extend life, overriding POLST orders. CONCLUSIONS: POLST orders regarding CPR in nursing home residents in this study were universally respected. Study subjects received remarkably high levels of comfort care and low rates of transfer for aggressive life-extending treatments.     

Inheritance of male hybrid sterility in the house musk shrew (Suncus murinus, Insectivora, Soricidae)

Two geographic races of the house musk shrew (Suncus murinus) were crossed and intercrossed in the laboratory. Many cases of male sterility were detected among the hybrids. Segregation analysis of the pedigree data showed that the inheritance of male sterility in interracial hybrids of S. murinus can be described within the framework of monogene polyallele model with sterility of a single allele combination. This model is similar if not identical to that proposed by Dobzhansky and Muller.