Reliable networks with unreliable sensors

Wireless sensor networks (WSNs) deployed in hostile environments suffer from a high rate of node failure. We investigate the effect of such failure rate on network connectivity. We provide a formal analysis that establishes the relationship between node density, network size, failure probability, and network connectivity. We show that large networks can maintain connectivity despite a significantly high probability of node failure. We derive mathematical functions that provide lower bounds on network connectivity in WSNs. We compute these functions for some realistic values of node reliability, area covered by the network, and node density, to show that, for instance, networks with over a million nodes can maintain connectivity with a probability exceeding 95% despite node failure probability exceeding 53%.     

Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter

This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects. Recommended by Editorial Board member Hyo-Choong Bang under the direction of Editor Hyun Seok Yang. This work was supported by the Korea Research Foundation Grant (MOEHRD) KRF-2005-204-D00002, the Korea Science and Engineering Foundation(KOSEF) grant funded by the Korea government(MOST) R0A-2007-000-10017-0 and Engineering Research Institute at Seoul National University. Daewon Lee received the B.S. degree in Mechanical and Aerospace Engineering from Seoul National University (SNU), Seoul, Korea, in 2005, where he is currently working toward a Ph.D. degree in Mechanical and Aerospace Engineering. He has been a member of the UAV research team at SNU since 2005. His research interests include applications of nonlinear control and vision-based control of UAV. H. Jin Kim received the B.S. degree from Korea Advanced Institute of Technology (KAIST) in 1995, and the M.S. and Ph.D. degrees in Mechanical Engineering from University of California, Berkeley in 1999 and 2001, respectively. From 2002–2004, she was a Postdoctoral Researcher and Lecturer in Electrical Engineering and Computer Science (EECS), University of California, Berkeley (UC Berkeley). From 2004–2009, she was an Assistant Professor in the School of in Mechanical and Aerospace Engineering at Seoul National University (SNU), Seoul, Korea, where she is currently an Associate Professor. Her research interests include applications of nonlinear control theory and artificial intelligence for robotics, motion planning algorithms. Shankar Sastry received the B.Tech. degree from the Indian Institute of Technology, Bombay, in 1977, and the M.S. degree in EECS, the M.A. degree in mathematics, and the Ph.D. degree in EECS from UC Berkeley, in 1979, 1980, and 1981, respectively. He is currently Dean of the College of Engineering at UC Berkeley. He was formerly the Director of the Center for Information Technology Research in the Interest of Society (CITRIS). He served as Chair of the EECS Department from January, 2001 through June 2004. In 2000, he served as Director of the Information Technology Office at DARPA. From 1996 to 1999, he was the Director of the Electronics Research Laboratory at Berkeley (an organized research unit on the Berkeley campus conducting research in computer sciences and all aspects of electrical engineering). He is the NEC Distinguished Professor of Electrical Engineering and Computer Sciences and holds faculty appointments in the Departments of Bioengineering, EECS and Mechanical Engineering. Prior to joining the EECS faculty in 1983 he was a Professor with the Massachusetts Institute of Technology (MIT), Cambridge. He is a member of the National Academy of Engineering and Fellow of the IEEE.     

Primary focal segmental glomerulosclerosis: clinical course and response to therapy

Primary focal segmental glomerulosclerosis (FSGS) is a lesion associated with a poor prognosis and results in end-stage renal disease after 5 to 10 years. Based on past experience, many nephrologists have considered primary FSGS a lesion that is steroid resistant and therefore are reluctant to offer steroids as treatment. Recent data, however, have demonstrated that patients with primary FSGS have a response to steroid therapy that is considerably better than had been described. Thus, it may be that nephrologists have been more "steroid reluctant" than the lesion is steroid resistant. To better understand this issue we review the clinical course and response to therapy in patients with primary FSGS.     

Disruption of epithelial cell-matrix interactions induces apoptosis

Cell-matrix interactions have major effects upon phenotypic features such as gene regulation, cytoskeletal structure, differentiation, and aspects of cell growth control. Programmed cell death (apoptosis) is crucial for maintaining appropriate cell number and tissue organization. It was therefore of interest to determine whether cell-matrix interactions affect apoptosis. The present report demonstrates that apoptosis was induced by disruption of the interactions between normal epithelial cells and extracellular matrix. We have termed this phenomenon "anoikis." Overexpression of bcl-2 protected cells against anoikis. Cellular sensitivity to anoikis was apparently regulated: (a) anoikis did not occur in normal fibroblasts; (b) it was abrogated in epithelial cells by transformation with v-Ha-ras, v-src, or treatment with phorbol ester; (c) sensitivity to anoikis was conferred upon HT1080 cells or v-Ha-ras-transformed MDCK cells by reverse-transformation with adenovirus E1a; (d) anoikis in MDCK cells was alleviated by the motility factor, scatter factor. The results suggest that the circumvention of anoikis accompanies the acquisition of anchorage independence or cell motility.     

Transfer of loads between lumbar tissues during the flexion-relaxation phenomenon

STUDY DESIGN AND METHODS: This study used an anatomically detailed model of the lumbar tissues, driven from biologic signals of vertebral displacement and myoelectric signals, to estimate individual muscle and passive tissue force-time histories during the performance of the "flexion-relaxation" maneuver. Eight male university students performed three trials each of the "flexion-relaxation" maneuver with six pairs of surface myoelectric electrodes monitoring the right side of the trunk musculature, an electromagnetic device to record lumbar flexion, and videotape to record body segment displacement. OBJECTIVES: To examine the loads on individual tissues during the transfer of moment support responsibility from predominantly active muscle to predominantly passive tissue. SUMMARY OF BACKGROUND DATA: No previous studies, to the authors' knowledge, have examined individual tissue loading during the flexion-relaxation maneuver. RESULTS: Although most subjects were able to "relax" their lumbar extensors in full flexion, activity remained in the thoracic extensors and abdominals. Tissue load predictions suggested that while the lumbar extensor muscles were neurally "relaxed" (i.e., myoelectric silence), substantial elastic forces would assist the passive tissues in extensor moment support. On average, subjects sustained almost 3 kN in compressive load on the lumbar spine and about 755 N of anterior shear during full flexion with only 8 kg held in the hands. CONCLUSIONS: The "relaxation" of lumbar extensor muscles appeared to occur only in an electrical sense because they generated substantial force elastically through stretching. Loading of the interspinous and supraspinous ligaments, in particular, was high relative to their failure tolerance.     

The role of autologous blood transfusion in the the Federal Republic of Germany. Results of a 1993 questionnaire. 1. The reunited Germany

The objective of the study was to evaluate the role of autologous blood transfusion in current clinical practice in the Federal Republic of Germany after reunification. METHODS: Questionnaires were sent to the anaesthesia departments of 684 German hospitals in January 1993. The sample consisted of 400 randomly selected hospitals from the former West Germany ("old federal states") and 284 hospitals from the former German Democratic Republic ("new federal states"). Only hospitals with more than 25 surgical beds were included in the study. The questionnaire contained 36 questions related to (1) general information on the hospital, (2) preoperative autologous blood donation (PABD), (3) preoperative plasmapheresis, (4) isovolaemic haemodilution, (5) perioperative blood salvage, and (6) general management of blood transfusion. RESULTS: A total of 502 completed questionnaires (73%) were returned, 305 from hospitals in the "old federal states" and 197 from hospitals in the former German Democratic Republic. Nine per cent of the responding hospitals were running their own transfusion services, and 56% were located in the vicinity of a regional blood bank. The overall proportion of surgical procedures requiring perioperative blood transfusion ranged from 1% to 90% (median 10%). PABD was performed "not at all" in 18%, "rarely" in 20% "occasionally" in 27%, "frequently" in 17%, and "mostly" in 16% of the responding hospitals. The principal use of PABD was in orthopaedic surgery and cardiac surgery (83% and 70% of the departments in question, respectively). In more than 50% of the hospitals reporting, the PABD service was run by the anaesthesia department. Patients not meeting the established criteria for homologous blood donors were accepted for autologous blood donation "frequently" and "mostly" in 20% and 12% of the hospitals, respectively, but at most "occasionally" in 63% of the hospitals. Preoperative plasmapheresis was performed in 12% of the responding hospitals. Autologous fresh frozen plasma predominantly was used for volume replacement, and for prevention of coagulation disorders when major blood loss was anticipated. Isovolaemic haemodilution was performed "not at all" in 28%, "rarely" in 19%, "occasionally" in 28%, "frequently" in 16%, and "mostly" in 8% of the responding hospitals. The reasons most frequently invoked for not performing haemodilution were "too time consuming" and "too little blood-saving effect". Cell separators for perioperative blood salvage were available in 30% of the responding hospitals. Of the other hospitals not equipped with cell-washing devices, 11% performed perioperative blood salvage of unprocessed blood by means of simple collection devices. Some 80% of those hospitals using intraoperative autotransfusion devices also performed blood salvage postoperatively. The principal use of perioperative blood salvage was in cardiac surgery, orthopaedics, and vascular surgery (90%, 54%, and 54% of departments, respectively). Some 48% of the responding anaesthetists "mostly" considered haemoglobin levels of 8-10 g/dl acceptable in patients without cardiopulmonary disease, but only 18% did so in patients with cardiopulmonary disease. CONCLUSIONS: Although available in the majority of hospitals surveyed, the simple techniques of both PABD and isovolaemic haemodilution are unduly neglected in routine clinical practice. The consistent use of both of these techniques, and the careful weighing up of the indication for every single blood transfusion, would not only effectively reduce homologous blood transfusions, but also enable even small hospitals to run successful autologous transfusion programmes without expensive cell-washing and plasmapheresis devices.     

Strategic questions for consumer-based health communications

Using the consumer-oriented approach of social and commercial marketers, this article presents a process for crafting messages designed to improve people's health behaviors. The process, termed consumer-based health communications (CHC), transforms scientific recommendations into message strategies that are relevant to the consumer. The core of CHC is consumer research conducted to understand the consumer's reality, and thereby allowing six strategic questions to be answered. The immediate result of the CHC process is a strategy statement--a few pages that lay out who the target consumer is, what action should be taken, what to promise and how to make the promise credible, how and when to reach him or her, and what image to convey. The strategy statement then guides the execution of all communication efforts, be they public relations, mass media, direct marketing, media advocacy, or interpersonal influence. It identifies the most important "levers" for contact with the consumer. Everyone from creative specialists through management and program personnel can use the strategy statement as a touchstone to guide and judge the effectiveness of their efforts. The article provides a step by step illustration of the CHC process using the 5 A Day campaign as an example.     

Transthoracic defibrillation of swine with monophasic and biphasic waveforms

BACKGROUND: Biphasic waveforms have had a favorable impact on internal defibrillation but have seen minimal use in transthoracic defibrillation systems. The purpose of this study was to compare monophasic and biphasic waveforms for transthoracic defibrillation in swine. METHODS AND RESULTS: Three interrelated studies were performed in 19 swine to establish the relative transthoracic defibrillation efficacy of biphasic shock waveforms. In study 1, we measured voltage (V50) and energy (E50) strength-duration curves for monophasic and biphasic truncated exponential waveforms. We then independently examined the effects of phase duration and tilt on biphasic waveform defibrillation with a total waveform duration from study 1 that provided the minimum V50 (study 2) and the minimum E50 (study 3). At each pulse duration tested in study 1, biphasic waveforms defibrillated with significantly less voltage and energy than monophasic waveforms. At a duration of 12 ms, there was a voltage minimum for biphasic waveform defibrillation. At this duration, V50 was 1378 +/- 505 V for the biphasic waveform compared with 2185 +/- 361 V for the monophasic waveform, P = .01. For both monophasic and biphasic waveforms, E50 increased with pulse duration. With a total pulse duration of 12 ms, E50 was 169 +/- 101 J for the biphasic waveform compared with 414 +/- 114 J for the monophasic waveform, P = .003. In study 2, optimization of phase duration and total tilt reduced the defibrillation requirements of the 12-ms "minimum voltage" biphasic waveform to 1284 +/- 187 V and 129 +/- 36 J. In study 3, the 8-ms "minimum energy" biphasic waveform had an E50 of 115 +/- 35 J that was 11% less than the 12-ms biphasic waveform, P = .11; however, voltage requirements of 1476 +/- 239 V were 15% higher, P = .005. CONCLUSIONS: This study demonstrates the superiority of truncated biphasic waveforms over truncated monophasic waveforms for transthoracic defibrillation of swine. Biphasic waveforms should prove as advantageous at reducing voltage and energy requirements for transthoracic defibrillation as they have for internal defibrillation.     

Focus groups reveal perils and promises of managed care for nurse practitioners

Decades of practice and research suggest that nurse practitioners (NPs) provide cost-effective and high-quality care. Managed care's emphasis on prevention and cost savings led some policy makers to view NPs as a way to meet the need for primary care providers. However, access to and utilization of NPs has increasingly been controlled by managed care organizations (MCOs) through their selection of providers for primary care panels. This study employed qualitative methodology to examine NPs' experiences with MCOs. Three focus groups, comprising 27 NPs in New York and Connecticut, revealed NPs' mixed reactions to managed care and a range of sentiments regarding NPs' efforts to be listed as primary care providers. The results reflected NPs' concerns about their perceived "invisibility," as well as their sense of "invincibility" in the ways in which NPs are responding to the barriers posed by MCOs. They identified barriers to, as well as ways to facilitate, being listed by MCOs, and described the importance of NPs working individually and collectively in negotiating with MCOs.