Planetary exploration by robotic aerovehicles

Planetary aerobots are a new type of telerobotic science platform that can fly and navigate in a dynamic 3-dimensional atmospheric environment, thus enabling the global in situ exploration of planetary atmospheres and surfaces. Aerobots are enabled by a new concept in planetary balloon altitude control, developed at JPL, which employs reversible-fluid changes to permit repeated excursions in altitude. The essential physics and thermodynamics ofreversible-fluid altitude control have been demonstrated in a series of altitude-control experiments conducted in the Earth's atmosphere, which are described. Aerobot altitude-control technology will be important in the exploration of seven planets and satellites in our solar system. Three of these objects—Venus, Mars, and the Saturnian satellite Titan—have accessible solid surfaces and atmospheres dominated by the dense gases nitrogen or carbon dioxide. They will be explored with aerobots using helium or hydrogen as their primary means of buoyancy. The other four planets—Jupiter, Saturn, Uranus, and Neptune—have deep atmospheres that are predominantly hydrogen. It may be possible to explore these atmospheres with aerobots inflated with atmospheric gas that is then radiatively heated from the hotter gaseous depths below. To fulfill their potential, aerobots to explore the planets will need autonomous state estimators to guide their observations and provide information to the altitude-control systems. The techniques of acquiring these data remotely are outlined. Aerobots will also use on board altitude control and navigation systems to execute complex flight paths including descent to the surface and exploiting differential wind velocities to access different latitude belts. Approaches to control of these systems are examined. The application of aerobots to Venus exploration is explored in some detail: The most ambitious mission described, the Venus Flyer Robot (VFR), would have the capability to make repeated short excursions to the high-temperature surface environment of Venus to acquire data and then return to the Earth-like upper atmosphere to communicate and recool its electronic systems. Finally a Planetary Aerobot Testbed is discussed which will conduct Earth atmospheric flights to validate autonomous-state-estimator techniques and flight-path-control techniques needed for future planetary missions.     

Classifier Ensembles with a Random Linear Oracle

We propose a combined fusion-selection approach to classifier ensemble design. Each classifier in the ensemble is replaced by a miniensemble of a pair of subclassifiers with a random linear oracle to choose between the two. It is argued that this approach encourages extra diversity in the ensemble while allowing for high accuracy of the individual ensemble members. Experiments were carried out with 35 data sets from UCI and 11 ensemble models. Each ensemble model was examined with and without the oracle. The results showed that all ensemble methods benefited from the new approach, most markedly so random subspace and bagging. A further experiment with seven real medical data sets demonstrates the validity of these findings outside the UCI data collection     

Microstructural Modelling of Nb Microalloyed Steels during Thin Slab Direct Rolling Processing

The microstructural evolution during the hot rolling of coarse grain sized austenite has been modeled considering all the microstructural mechanisms (dynamic, static and metadynamic recrystallization, strain induced precipitation) that can take place during an industrial TSDR production of three Nb microalloyed steels. Based on the results obtained from the model, processing maps have been drawn for 0.02%, 0.035% and 0.05% Nb microalloyed steels. Optimum processing conditions to exploit all the benefits of the Nb microalloying have been defined considering a final gauge thickness range between 1.5 and 12.65 mm. In addition, and facing the difficulties present in the production of thick hot strip, several alternative thermomechanical schedules are proposed, which would originate microstructures with a suitable combination of homogeneity and retained strain prior to transformation.     

Synthesis, estrogen receptor binding, and tissue distribution of a new iodovinylestradiol derivative (17alpha,20E)-21-[123I]Iodo-11beta-nitrato-19-norp regna-1,3,5 (10),20-tetraene-3,17-diol (E-[123I]NIVE)

We have synthesized and evaluated E-11beta-nitrato-17alpha-iodovinylestradiol (E-NIVE; E-3c) and its 123I-labelled form, as a new potential radioligand for imaging of estrogen receptor (ER)-positive human breast tumors. E-[123I]NIVE was prepared by stereospecific iododestannylation of the E-tri-n-butylstannylvinyl precursor (E-2c), obtained from reaction of 11beta-nitrato-estrone (8) with E-tributylstannylvinyllithium. In competitive binding studies, E-NIVE proved to have high binding affinity for both the rat and the human ER (Ki 280-730 pM), without significant binding to human sex hormone binding globulin. Distribution studies in normal and mammary tumor-bearing rats showed specific ER-mediated uptake of E-[123I]NIVE in the estrogen target tissues, i.e., uterus, ovaries, pituitary, and hypothalamus, but not in the mammary tumors. Selective retention in these target tissues, including tumor tissue, resulted in significant increases over time for the target tissue-to-muscle uptake ratios, but not for the target tissue-to-fat uptake ratios. The tumor-to-fat uptake ratio even appeared constantly below 1. In the primary estrogen target tissues, E-[123I]NIVE displayed high specific ER-mediated uptake and retention, which resulted in moderate target-to-nontarget tissue uptake ratios. In contrast, in tumor tissue, E-[123I]NIVE uptake appeared to be rather low and not ER-specific. As a consequence, E-[123I]NIVE appears to be a less favorable radioligand for ER imaging in breast cancer than the previously studied stereoisomers of 11beta-methoxy-17alpha-[123I]iodovinylestradiol (E- and Z-[123I]MIVE; [123I]E- and [123I]Z-3b).     

The prevalence of allergic rhinitis and nasal symptoms in Nottingham

An overview of the most important older and newer results regarding the relationship between violent and criminal behavior on the one hand and schizophrenic illness on the other hand is presented. Four different methods are available to study this relationship: (i) study of the prevalence of mental illness in criminal/violent populations; (ii) study of criminality/violence rate in samples of psychiatric patients; (iii) study of criminality/violence in community samples comparing mental patients with non-patient community residents; and (iv) study of criminality/violence in birth cohorts prospectively. All these methods have been used; but samples composed of schizophrenic patients exclusively were only exceptionally studied. The results indicate that there is a modest but significant relationship between schizophrenia and violence and crime which persists even after controlling for demographic and socio-economic variables. The probability of schizophrenic patients to be criminal or violent depends on the acuity of their illness and is increased by their use of psychoactive substances. Generally, however, violent and criminal acts directly attributable to mental illness account only for a very small proportion of such acts in the society.     

Bioethics for clinicians: 16. Dealing with demands for inappropriate treatment

Demands by Patients or their Families for treatment thought to be inappropriate by health care providers constitute an important set of moral problems in clinical practice. A variety of approaches to such cases have been described in the literature, including medical futility, standard of care and negotiation. Medical futility fails because it confounds morally distinct cases: demand for an ineffective treatment and demand for an effective treatment that supports a controversial end (e.g., permanent unconsciousness). Medical futility is not necessary in the first case and is harmful in the second. Ineffective treatment falls outside the standard of care, and thus health care workers have no obligation to provide it. Demands for treatment that supports controversial ends are difficult cases best addressed through open communication, negotiation and the use of conflict-resolution techniques. Institutions should ensure that fair and unambiguous procedures for dealing with such cases are laid out in policy statements.     

The effect of oxygen free radicals on calcium current and dihydropyridine binding sites in guinea-pig ventricular myocytes

1. We used electrophysiological and binding techniques to determine the effects of oxygen free radicals (OFRs) generated by dihydroxyfumaric acid (DHF, 5 mM) on calcium current and dihydropyridine binding sites in guinea-pig isolated ventricular myocytes. 2. Binding of [3H]-PN200-110 to isolated ventricular myocytes revealed one population of binding sites with a KD of 0.11 +/- 0.01 nM and Bmax of 139.1 +/- 6.9 fmol mg-1 protein (n = 24). After 15 min of exposure to DHF, the density, but not the affinity of [3H]-PN200-110 binding sites was significantly (P < 0.01) reduced to 35% of the control value (Bmax = 49.4 +/- 3.7 fmol mg-1 protein, KD = 0.11 +/- 0.01 nM, n = 15). In the presence of superoxide dismutase (SOD) and catalase (CAT) the reduction in [3H]-PN200-110 binding sites was almost completely prevented (Bmax = 120.5 +/- 7.4 in control, n = 4 and 98.8 +/- 7.4 fmol mg-1 protein in DHF plus SOD and CAT, n = 4). KD values were not modified (0.08 +/- 0.01 in control and 0.09 +/- 0.01 nM in DHF plus SOD and CAT). 3. The time-course of the reduction of [3H]-PN200-110 binding sites by OFRs was paralleled by the decrease in L-type calcium current (Ica,L) measured in patch-clamped guinea-pig ventricular myocytes either in the absence or in the presence of EGTA in the patch pipette. In the former conditions OFRs induced the appearance of calcium-dependent alterations, i.e. the transient inward current, within 10 min. After 30 min of incubation with DHF, [3H]-PN200-110 binding sites were reduced to 25% of the control value. 4. In myocytes incubated with the antilipoperoxidant agent, butylated hydroxytoluene (BHT, 50 microM), the decrease in [3H]-PN200-110 binding sites caused by DHF was partially prevented (Bmax values after 30 min exposure to DHF were 55.5 +/- 1.9 and 23.7 +/- 5.9 fmol mg-1 protein in the presence and in the absence of BHT respectively, P < 0.05). BHT did not affect the decrease in [3H]-PN200-110 binding sites during the first 15 min of exposure to DHF, but was able to prevent completely the further decrease occurring during the following 15 min of incubation with OFRs. 5. Our results demonstrate that the OFR-induced decrease in calcium current is associated with a reduction in DHP binding sites. The decrease in calcium current and in calcium channels may be implicated in the mechanical dysfunction associated with oxidative stress.     

The branch site adenosine is recognized differently for the two steps of pre-mRNA splicing

The functional groups responsible for branch site identity in the two steps of pre-mRNA splicing as well as for spliceosome assembly were tested by incorporation of site-specific modifications at the branch site of a pre-mRNA. These results show that recognition of the adenosine occurs early in complex formation and that the branch site adenosine is recognized differently before the first step and for the second step. Further, direct UV cross-linking with these modified RNAs was used to identify a factor whose interaction was dependent upon the identity of the branch site nucleotide.     

Comparisons of Urban Travel Forecasts Prepared with the Sequential Procedure and a Combined Model

Detailed analyses and comparisons of urban travel forecasts prepared by applying the state-of-practice sequential procedure and the solution of a combined network equilibrium model are presented. The sequential procedure for solving the trip distribution, mode choice and assignment problems with feedback is the current practice in most transportation planning agencies, although its important limitations are well known. The solution of a combined model, in contrast, results from a single mathematical formulation, which ensures a well-converged and consistent result. Using a real network, several methods for solving the sequential procedure with feedback are compared to the solution of the combined model ESTRAUS. The results of these methods are shown to have various levels of instability. The paper concludes with a call for a new paradigm of travel forecasting practice based on an internally consistent model formulation that can be solved to a level of precision suitable for comparing alternative scenarios.