Multi-relations in Z

Both the theories of binary relations and multi-sets (or bags) in Z have been usefully applied to software specification and development. In this paper we examine a useful theory—multi-relations—which is a cross between these two theories. One way of viewing relations is as sets of pairs. Here, by analogy, we view multi-relations as multi-sets of pairs, and we define multirelation equivalents of most of the traditional operators defined on binary relations. Multi-relations can also be viewed as graphs or two-dimensional matrices (with indices over arbitrary sets).The use of multi-relations is illustrated by specifying a bill-of-materials system. This provides a good example of the paradigm of building a suitable mathematical theory first and then developing a specification in terms of the theory.     

Minimax optimal control of uncertain systems with structured uncertainty

This paper considers a minimax control problem for an uncertain system containing structured uncertainties. The uncertainties in this system are assumed to satisfy a certain integral quadratic constraint. For a given initial condition, the minimax optimal controller is constructed by solving a parameter-dependent Riccati equation of the game type. This controller leads to a closed-loop uncertain system which is absolutely stable.     

The Dyeing of Wool–Polyester Blends with Reactive Disperse Dyes

The dyeing behaviour of the Procinyl (ICI) range of reactive disperse dyes on wool–polyester blends is described. Two of the dyes were found to dye both components of such blends to approximately the same depth, whilst the remaining three dyes in the range strongly favoured the wool component.     

FRIL: A Support Logic Programming System

FRIL: A Support Logic Programming System is principally an extension of Prolog designed to facilitate the modelling of uncertainty in applications which are suitable for Prolog and need to allow for probabilistic, evidential or vague reasoning. This review was carried out on an Amstrad 1640HD. The product runs on IBM PC, XT, AT and PS/2 computers and compatibles running MS-DOS 3.0 or higher, with 640 Kb RAM. It also runs on a variety of workstations and minicomputers such as the Sun and VAX range. Prices of currently available versions are as follows:

• PC single user: £495

• PC single user with expanded memory (2 Mb): £995

• PC networks (up to ten PCs): £1495

• SUN, Apollo HP300 workstations: £2500

• MicroVax and VAX workstations (UNIX or VMS): £5000

• VAX 11/730, 11/750, 11/780 (UNIX or VMS): £6000.

The product is available from FRIL Systems Ltd, Bristol ITeC, St Anne's House, St Anne's Road, Bristol BS4 4AB, England. Telephone: (0272) 713481. FRIL Systems launched version 4.0 of FRIL in late 1988.     

Distribution of dynamic loads for multiple cooperating robot manipulators

For the situation of multiple cooperating manipulators handling a single object, a formulation is presented which allows load distribution of the combined system to be made while taking manipulator dynamics into account. First, object dynamics are used to transform the motion task. An integrated procedure for modeling arm dynamics is detailed. Then a method is introduced which transforms the object load to the joint level. At this level, various methods of load distribution that allow subtask performance are proposed. These methods allow desired object motion while selecting loads desirable to alleviate manipulator dynamic loads.     

Self-reinforcement and recall: Differential deficits in depressed and nondepressed psychiatric inpatients.

16 depressed and 12 nondepressed psychiatric inpatients and 19 nondepressed hospital employees (18–60 yrs old) were administered the Beck Depression Inventory, Hamilton Rating Scale for Depression, and a verbal recognition task. Ss' administration and recall of self-reinforcements and self-punishments were assessed. As predicted, depressed Ss administered fewer self-reinforcements and a greater number of self-punishments than hospital employees; however, they did not differ on either of these measures from nondepressed patients. In terms of recall, depressed patients recalled giving themselves fewer reinforcements and a greater number of punishments than was actually the case. Whereas a low rate of self-reinforcement may be characteristic of global psychopathology, deficits in the recall of self-reinforcement and self-punishment were specific to depression. Results are discussed with reference to both cognitive and self-reinforcement conceptualizations of depression. (30 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

PET/MRI in cancer patients: first experiences and vision from Copenhagen

Combined PET/MRI systems are now commercially available and are expected to change the medical imaging field by providing combined anato-metabolic image information. We believe this will be of particular relevance in imaging of cancer patients. At the Department of Clinical Physiology, Nuclear Medicine & PET at Rigshospitalet in Copenhagen we installed an integrated PET/MRI in December 2011. Here, we describe our first clinical PET/MR cases and discuss some of the areas within oncology where we envision promising future application of integrated PET/MR imaging in clinical routine. Cases described include brain tumors, pediatric oncology as well as lung, abdominal and pelvic cancer. In general the cases show that PET/MRI performs well in all these types of cancer when compared to PET/CT. However, future large-scale clinical studies are needed to establish when to use PET/MRI. We envision that PET/MRI in oncology will prove to become a valuable addition to PET/CT in diagnosing, tailoring and monitoring cancer therapy in selected patient populations.