Continuous mobile robot localization by using structured light and a geometric map

A mobile robot needs to know its position and orientation with accuracy in order to decide the control actions that permit it to finish the entrusted tasks successfully. To obtain this information, dead-reckoning-based systems have been used, and more recently inertial navigation systems. However, these systems have some errors that grow bigger as time goes by, therefore a moment comes when the information provided is useless. Because of this, there should be a periodic process that updates the robot position and orientation of the vehicle. The process to determine the robot position and orientation by using information originated from the external sensors is defined as the mobile robot relocalization. It is obvious that the greater the frequency of this process, the better the knowledge of its position the robot will have, and therefore its movements will be better directed to the point it must reach. The algorithm to achieve this can be classified in two large groups: relocalization through an a priori map of the environment and relocalization through the detection of landmarks present in that environment. The algorithm presented in the paper belongs to the first case. The sensor used is a combination of a laser diode and a CCD camera. The sensorial information is modelled as straight lines that will be matched with an a priori map of the environment. With this, the position of the mobile robot is estimated. The matching process is accomplished within an extended Kalman filter. The algorithm is able to work in real time, and it actualizes the position of the robot in a continuous way.     

APPLICATION OF A PERTURBATION THEORY FOR EVALUATION ALGORITHMS FOR IDENTIFICATION OF A CONTINUOUS PLANT FROM DISCRETE DATA

Abstract

A perturbation theory for evaluation algorithms of arithmetic expressions is applied to the generalized least-squares identification of the continuous parameters by using nonperiodic discrete data. The sampling instants are distributed in such a way that a sequence of the elemental arithmetic expressions of the identification algorithm are suboptimized according to bang-bang rules on the extrema of appropriate variation intervals. The weighting scalars in the generalized least-squares method are updated with the same purpose.     

Compensation of uncertain continuous systems by using the internal model control principle

In this paper the design of compensators for uncertain continuous plants is investigated. The standard derived compensators are based on the application of the internal model control (IMC) method. The required a priori knowledge on the plant is rather weak, namely, an upper bound of the plant relative order, the numbers of the strictly unstable and critically unstable plant poles being integrators and upper and lower bounds of the amplitude-versus-frequency plot over the low frequency band in the case of minimum-phase open-loop systems. If the open-loop system has unstable zeros and/or poles then the above bounds are required to be known for a modified magnitude plot which substitutes the unstable zeros (poles) by stable poles (zeros) which are their complex-conjugate reflections on the left-hand plane. An absolute upper bound of the open-loop phase plot is obtained on a finite frequency interval which allows the closed-loop system to guarantee a prescribed relative stability in many practical situations. The method is dependent on the alternative design of phase lead/lag classical compensators and to indirect adaptive control situations where the adaptive identifier is used for the parametrization of the adaptive controller.     

Structure of CheA, a signal-transducing histidine kinase

BACKGROUND/AIMS: After liver transplantation for autoimmune hepatitis, the long-term results and the incidence of recurrence of primary disease are unknown. METHODS: In this retrospective study we reviewed the clinical course of 25 patients transplanted for autoimmune hepatitis and followed for a mean of 5.3 years (2-8.5 years). RESULTS: The actuarial 5-year patient and graft survival rates were 91% (+/-6%) and 83% (+/-8%). The actuarial 1-year rate of acute rejection was 50% (+/-10.2%), which was comparable to that of patients transplanted for primary biliary cirrhosis and primary sclerosing cholangitis. Autoantibodies persisted in 77% of patients, at a lower titer than before liver transplantation. Ten patients were excluded from the study of autoimmune hepatitis recurrence, one because of an early postoperative death and nine because of hepatitis C virus infection acquired before or after liver transplantation. In the remaining 15 patients, who were free of hepatitis C virus infection, 5-year patient and graft survivals were 100% and 87%, respectively. Despite triple immunosuppressive therapy, three patients (20%) developed chronic hepatitis with histological and serological features of autoimmune hepatitis in the absence of any other identifiable cause. The disease was severe in two patients, leading to graft failure and asymptomatic in another, despite marked histological abnormalities. In one of these three patients, autoimmune hepatitis recurred on the second liver graft as well. CONCLUSIONS: Patients undergoing liver transplantation for autoimmune hepatitis have an excellent survival rate although severe primary disease may recur, suggesting the need for stronger post-operative immunosuppressive therapy.     

High J Pure Inversion Spectrum of ND3 in the v2 = 1 State

OBJECTIVE: The authors examined the efficacy of intramuscular flunitrazepam compared with intramuscular haloperidol for the immediate control of agitated or aggressive behavior in acutely psychotic patients. METHOD: Twenty-eight actively psychotic inpatients, aged 20-60 years, who were under treatment with neuroleptic agents were selected for the study. Each was randomly assigned on a double-blind basis to receive either 5 mg i.m. of haloperidol (N=13) or 1 mg i.m. of flunitrazepam (N=15) during an aggressive event. Verbal and physical aggression was measured over time with the Overt Aggression Scale. Patients were also rated with the Brief Psychiatric Rating Scale and the Clinical Global Impression scale. RESULTS: Both flunitrazepam and haloperidol exhibited acute antiaggressive activity. This beneficial effect, as assessed by the Overt Aggression Scale, was obtained within 30 minutes. CONCLUSIONS: Intramuscular flunitrazepam may serve as a convenient, rapid, safe, and effective adjunct to neuroleptics in reducing aggressive behavior in emergency psychiatric settings.     

Hepatitis C: Part I. Routine serologic testing and diagnosis

Hepatitis C, which is caused by the hepatitis C virus (HCV), is a major public health problem in the United States. HCV is most efficiently transmitted through large or repeated percutaneous exposures to blood. Most patients with acute HCV infection develop persistent infection, and 70 percent of patients develop chronic hepatitis. HCV-associated chronic liver disease results in 8,000 to 10,000 deaths per year, and the annual costs of acute and chronic hepatitis C exceed $600 million. An estimated 3.9 million Americans are currently infected with HCV, but most of these persons are asymptomatic and do not know they are infected. To identify them, primary health care professionals should obtain a history of high-risk practices associated with the transmission of HCV and other bloodborne pathogens from all patients. Routine testing is currently recommended only in patients who are most likely to be infected with HCV.     

Adult psychological functioning of individuals born with craniofacial anomalies

This study represents an initial investigation into the adult psychological functioning of individuals born with craniofacial disfigurement. A total of 24 men and women born with a craniofacial anomaly completed paper and pencil measures of body image dissatisfaction, self-esteem, quality of life, and experiences of discrimination. An age- and gender-matched control group of 24 non-facially disfigured adults also completed the measures. As expected, craniofacially disfigured adults reported greater dissatisfaction with their facial appearance than did the control group. Craniofacially disfigured adults also reported significantly lower levels of self-esteem and quality of life. Dissatisfaction with facial appearance, self-esteem, and quality of life were related to self-ratings of physical attractiveness. More than one-third of craniofacially disfigured adults (38 percent) reported experiences of discrimination in employment or social settings. Among disfigured adults, psychological functioning was not related to number of surgeries, although the degree of residual facial deformity was related to increased dissatisfaction with facial appearance and greater experiences of discrimination. Results suggest that adults who were born with craniofacial disfigurement, as compared with non-facially disfigured adults, experience greater dissatisfaction with facial appearance and lower self-esteem and quality of life; however, these experiences do not seem to be universal.     

New alkaloids from the indopacific sponge Stylissa carteri

Two samples of the marine sponge Stylissa carteri collected in Indonesia yielded two new bromopyrrole alkaloids: debromostevensine (1) and debromohymenin (2), as well as nine other known congeners (3-11). The structures of the new compounds were unambiguously established on the basis of their NMR and mass spectra.