Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dual-arm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of the stand-alone manipulators. When manipulators are combined and controlled as a single manipulator, as in the case of dual-arms, our proposed approach will not require an entirely new dynamics model for the resulting combined manipulator. But one will use the existing Jacobians and dynamics model for each of the stand-alone manipulators to come up with the dynamics model of the combined manipulator. A dual-arm KUKA is used in the experimental implementation.     

Nanoparticle‐embedded polymer‐dispersed liquid crystal for paper‐like displays

Abstract— A polymer‐dispersed liquid‐crystal (PDLC) matrix template embedded with nano/microparticles can be backfilled/infiltrated with a dye‐doped liquid crystal for a paper‐like reflective display. In this way, a desirable degree of diffusion can be realized to reduce the viewing‐angle dependency of a gain reflector and metallic glare without changing other electro‐optical properties.     

Pitfalls in quantitative contrast echocardiography: the steps to quantitation of perfusion

Current methods used clinically to assess myocardial perfusion are invasive and expensive. As the technology of ultrasound imaging improves, CE may provide a relatively inexpensive, noninvasive means of quantitating myocardial perfusion. Issues regarding stability of microbubble contrast agents must be studied more closely under physiologic conditions. As such, encapsulated microbubbles may provide more stability under physiologic pressures than free gas microbubbles. Introducing high concentrations of contrast, either by hyperconcentrating the contrast agent or by increasing the injection rate, may provide greater stability under physiologic conditions. Further, before quantitative statement of tissue perfusion can be made, the relationship between tracer concentration and system response must be established. Further, a "linear" postprocessing ultrasound setting does not eliminate this requirement as data must still undergo nonlinear transformation during log compression and time-gain compensation. Additionally, issues regarding "electronic thresholding" must be explored more extensively in vivo. Commercial ultrasound scanners, in their present form, may not offer adequate sensitivity for absolute quantitative studies. Further development of modified ultrasound systems may provide sufficient sensitivity for quantitative perfusion imaging. CE offers a potentially powerful tool in the clinical management of patients with ischemic heart disease. Conventional coronary angiography provides information on the size of a lesion, but accompanying tissue perfusion distal to the lesion cannot be determined. Doppler ultrasonography determines velocity of blood flow in large vessels but does not offer the potential to quantitate tissue perfusion. Clearly, CE has a place in the future of diagnostic imaging. The recent work of Ito et al. demonstrated the qualitative potential of CE in the identification of "areas at risk" in patients who had undergone thrombolysis or percutaneous transluminal coronary angioplasty after an acute myocardial infarction. With further improvement in the ultrasound imaging techniques and microbubble stability, CE may offer an inexpensive, noninvasive means of assessing myocardial perfusion.     

Evaluation of thermal conductivity from temperature profiles

A new dynamic technique for the measurement of thermal conductivity is being developed at IMGC. The experiment consists in bringing the specimen to high temperatures with a current pulse and in measuring the temperature profiles during the free cooling period. Different techniques can be used to extract the information on thermal conductivity from the profiles. The numerical computation of thermal conductivity from the experimental temperature profiles in absolute space is possible, but it is difficult and cumbersome because one must know and take into the account the exact position of the infinitesimal elements of the specimen in different profiles. Computations in tube-space (a fictitious space where no thermal expansion occurs) are simpler and lead to less complex numerical computations. Complementary techniques to evaluate thermal conductivity as a function of temperature or at constant temperature are presented with a discussion of advantages and disadvantages of each method. Computer simulations have tested the precision of the complex software. Numerically generated temperature profiles from known thermophysical properties have been obtained and thermal conductivity has been recomputed from the profiles. The relative difference using different computational approaches and different fitting functions is always less than 0.1%.Paper presented at the Third Workshop on Subsecond Thermophysics, September 17–18, 1992, Graz, Austria.     

Diagnosis and treatment of aortic valve stenosis

The present review has attempted to summarize the classic symptoms and signs of aortic valve stenosis, especially in an adult. It is emphasized that all the classic signs rarely are present and their absence may mislead an unwary clinician. The diagnostic help provided by noninvasive tests, including echocardiography and phonocardiography, has been emphasized. A need for cardiac catheterization and angiography in most patients prior to corrective surgery is stressed. The natural history of the disease without operative intervention is dim and a significant risk of sudden death exists. The current surgical approach with immediate and long-term results is summarized. Finally, attention has been drawn to the special clinical circumstances when the aortic valve stenosis provides a strinkingly different clinical picture. We cannot find a better way to end this review than by quoting a warning note given by Thomas Lewis in 1920: "It is the faint cry of an anguished and fast failing muscle, which, when it comes, all should strain to hear, for it is not long repeated. A few months, a few years at most, and the end comes."     

In vitro growth and drug sensitivity of tumor colony-forming units from human tumor xenografts

To investigate the feasibility of using tissue obtained from human tumor xenografts for in vitro screening of antineoplastic agents, we grew human tumor colony-forming units (CFU) in semisold agar from xenografts serially passaged in nude mice. Growth of human tumor CFU was accomplished from nine xenografts representing five different histological tumor types (ovarian carcinoma, adenocarcinoma of the colon, malignant melanoma, epidermoid carcinoma of the lung, and malignant astrocytoma). Cloning efficiency ranged from 0.04 to 0.1% and showed significant variability both between tumor types and between individual animals bearing the same type of xenograft. A high percentage of tumor CFU was in S phase [47 +/- 20% (S.D.)] as determined by the thymidine "suicide" technique. The number of tumor CFU observed increased linearly with increasing numbers of cells plated. In vitro drug sensitivity of the tumor CFU was assessed to Adriamycin, cis-platinum, and melphalan. The patterns of drug sensitivity were found to be reproducible and stable over a period of 9 months. Drug sensitivity curves to Adriamycin for five xenografts representing four tumor types showed complex patterns with plateau portions similar to those described for tumor CFU from primary tumors. The rank order of sensitivity of the tumors was compared to that of normal granulocyte-macrophage progenitors and, with the exception of the melanomas, was found to correlate well with clinical experience (order of sensitivity = colon less than ovary less than bone marrow). Growth of human tumor CFU from xenografts represents a reproducible and stable means for the study of the biology of tumor CFU and has potential applications as a means for screening new anticancer agents.     

Two-handed volumetric document corpus management

To find a document in the sea of information, you must embark on a search process, usually computer-aided. In the traditional information retrieval model, the final goal is to identify and collect a small number of documents to read in detail. In this case, a single query yielding a scalar indication of relevance usually suffices. In contrast, document corpus management seeks to understand what is happening in the collection of documents as a whole (i.e. to find relationships among documents). You may indeed read or skim individual documents, but only to better understand the rest of the document set. Document corpus management seeks to identify trends, discover common links and find clusters of similar documents. The results of many single queries must be combined in various ways so that you can discover trends. We describe a new system called the Stereoscopic Field Analyzer (SFA) that aids in document corpus management by employing 3D volumetric visualization techniques in a minimally immersive real-time interaction style. This interactive information visualization system combines two-handed interaction and stereoscopic viewing with glyph-based rendering of the corpora contents. SFA has a dynamic hypertext environment for text corpora, called Telltale, that provides text indexing, management and retrieval based on n-grams (n character sequences of text). Telltale is a document management and information retrieval engine which provides document similarity measures (n-gram-based m-dimensional vector inner products) visualized by SFA for analyzing patterns and trends within the corpus     

Marine Wastewater Discharges from Multiport Diffusers. II: Unstratified Flowing Water

Laboratory experiments on the near-field mixing of buoyant plumes discharged from multiport diffusers into unstratified flowing water are reported. The spatial variation of dilution was measured by a newly developed three-dimensional laser-induced fluorescence system and a microconductivity probe. The near-field hydrodynamics are complex. The plumes discharged upstream dilute and merge more rapidly than those discharged downstream. Even with wide port spacing, the plumes eventually merge to form a laterally uniform surface wastefield. The density profile in this wastefield becomes gravitationally stable and suppresses mixing, marking the end of the near field. The value of the port spacing ratio, s/H, below which the discharge approximates a line plume is greater for discharge into a flowing current than into a stationary environment, so the port spacing plays a lesser role in a flowing current. The mixing and dilution that occurs in the surface layer is less than for a discharge into a stationary environment, and it decreases as the current speed increases. Semiempirical equations to predict the major near field characteristics are presented.     

An Exploratory Examination of Student Attitudes Toward "Impaired" Peers in Clinical Psychology Training Programs.

Do psychology students view their training programs as doing enough to appropriately identify, accommodate, and possibly dismiss students who manifest significant impairment? This study reports the general findings of an exploratory survey distributed to clinical psychology graduate students. Overall, students viewed impairment as a highly sensitive and inadequately addressed issue. Students commonly reported frustration with and concern for impaired colleagues. A few respondents indicated that the terms impaired and problem student were insensitive and that greater attention needed to be given to "impaired" training contexts. Implications regarding formal standards for interpersonal functioning and programmatic supports for students are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Goal and Personality Trait Development in Emerging Adulthood.

The present research examined continuity and change in the importance of major life goals and the relation between change in goals and change in personality traits over the course of college (N = 298). Participants rated the importance of their life goals 6 times over a 4-year period and completed a measure of the Big Five personality traits at the beginning and end of college. Like personality traits, life goals demonstrated high levels of rank-order stability. Unlike personality traits assessed during the same period and in the same sample, the mean importance of most life goals decreased over time. Moreover, each goal domain was marked by significant individual differences in change, and these individual differences were related to changes in personality traits. These findings provide insights into the relatively unstudied question of how life goals change during emerging adulthood. (PsycINFO Database Record (c) 2010 APA, all rights reserved)