Detection of unanticipated faults for autonomous underwater vehicles using online topic models

For robots to succeed in complex missions, they must be reliable in the face of subsystem failures and environmental challenges. In this paper, we focus on autonomous underwater vehicle (AUV) autonomy as it pertains to self‐perception and health monitoring, and we argue that automatic classification of state‐sensor data represents an important enabling capability. We apply an online Bayesian nonparametric topic modeling technique to AUV sensor data in order to automatically characterize its performance patterns, then demonstrate how in combination with operator‐supplied semantic labels these patterns can be used for fault detection and diagnosis by means of a nearest‐neighbor classifier. The method is evaluated using data collected by the Monterey Bay Aquarium Research Institute's Tethys long‐range AUV in three separate field deployments. Our results show that the proposed method is able to accurately identify and characterize patterns that correspond to various states of the AUV, and classify faults at a high rate of correct detection with a very low false detection rate.     

Characterization of gas-phase molecular interactions on differential mobility ion behavior utilizing an electrospray ionization-differential mobility-mass spectrometer system

Differential mobility spectrometry (DMS) is a rapidly advancing technology for gas-phase ion separation. The interfacing of DMS with mass spectrometry (MS) offers potential advantages over the use of mass spectrometry alone. Such advantages include improvements to mass spectral signal/noise ratios, orthogonal/complementary ion separation to mass spectrometry, enhanced ion and complexation structural analysis, and potential for rapid analyte quantitation. The introduction of a new ESI-DMS-MS system and its utilization to aid in the understanding of DMS separation theory is described. A current contribution to DMS separation theory is one of an association/dissociation process between ions/molecules in the gas phase during the differential mobility separation. A model study was designed to investigate the molecular dynamics and chemical factors influencing the theorized association/dissociation process, and the mechanisms by which these gas-phase interactions affect an ion's DM behavior. Five piperidine analogues were selected as model analytes, and three alcohol drift gas dopants/modifiers were used to interrogate the analyte ions in the gas phase. Two proposed DMS separation mechanisms, introduced as Core and Fa?ade, corresponding to strong and weak attractions between ions/molecules in the gas phase, are detailed. The proposed mechanisms provide explanation for the observed changes in analyte separation by the various drift gas modifiers. Molecular modeling of the proposed mechanisms provides supportive data and demonstrates the potential for predictive optimization of analyte separation based on drift gas modifier effects.     

A novel wet etch for patterning lead zirconate-titanate (PZT) thin-films

Abstract

Little is reported in the literature on the wet etching of PZT and all wet etch recipes described use high concentrations of hydrofluoric acid (HF). Here, a novel recipe which operates in a new regime of extremely low HF concentration is used to wet etch thin film PZT. The recipe provides excellent etch control, minimizes undercut and does not attack photoresist. Unlike most wet PZT etchants it does not leave a lead-rich residue, and the etchant is selective over SiO₂ and ZrO₂. The recipe and preliminary etching results for 5 micron-thick sol-gel deposited PZT films are described in this paper.     

Reducing Lateral Visual Biases in Displays

The human visual system is composed of multiple physiological components that apply multiple mechanisms in order to cope with the rich visual content it encounters. The complexity of this system leads to non‐trivial relations between what we see and what we perceive, and in particular, between the raw intensities of an image that we display and the ones we perceive where various visual biases and illusions are introduced. In this paper, we describe a method for reducing a large class of biases related to the lateral inhibition mechanism in the human retina where neurons suppress the activity of neighbouring receptors. Among these biases are the well‐known Mach bands and halos that appear around smooth and sharp image gradients as well as the appearance of false contrasts between identical regions. The new method removes these visual biases by computing an image that contains counter biases such that when this laterally compensated image is viewed on a display, the inserted biases cancel the ones created in the retina. User study results confirm the usefulness of the new approach for displaying various classes of images, visualizing physical data more faithfully and improving the ability to perceive constancy in brightness.     

Parametric MRI of Water Diffusion in Breast Cancer

Diffusion MRI studies revealed specific morphological and physiological properties of MCF7 tumors implanted in the mammary gland of immunodeficient mice. These tumors mimic the histological and pathophysiological properties of human breast cancer in patients. The experiments were conducted by (1) applying varying diffusion gradient strengths, G_d, from 0 to 20 G/cm and a short diffusion time (t_d = 16 ms) in order to minimize the effect of restriction and exchange of water between the intra- and extracellular compartments, and (2) applying a strong constant gradient and diffusion times up to 96 ms, revealing water restriction and exchange. The normalized signal intensity was plotted against the diffusion weighting factor b , taking into account interaction with the imaging gradients. The curves were analyzed by applying a bi-exponential decay function assuming two exchanging water compartments, with fast and slow diffusion coefficients. The amplitudes and decay constants of the two exponents, a fast and a slow one, were related to the fraction and apparent diffusion coefficients of the extra- and intracellular water, respectively, considering contributions of restriction and exchange. During tumor progression the distribution of the diffusion parameters for the same experimental protocol varied and became less homogeneous. This was predominantly due to variations in the cellularity and increased necrosis. Upon treatment of the tumors with a new anti-estrogenic drug, tamoxifen methiodide, the changes in the diffusion parameters indicated increased cell swelling. Hence, this cytostatic response to treatment was detected before actual cell death was apparent. The potential capacity of diffusion MRI is of high clinical relevance and may help improve the noninvasive diagnosis and followup of treatment of this devastating disease.     

Palmitic Acid and Health: Introduction

Interest in the dietary role and metabolic effect of saturated fatty acids has been recently renewed on the basis of epidemiologic observations and economical approach to health and well-being. Saturated fats may favorably increase blood HDL-Cholesterol levels without significant changes of the total cholesterol/HDL-Cholesterol ratio. Also, the negative effect of saturated fat on cardiovascular diseases risk has recently been challenged. Palmitic acid, among all, may have special structural and functional roles in utero and in infancy, and indeed is it is being delivered in a unique form in human milk. Future research should include objective cost-benefit analyses when disentangling the role of saturated fats in dietary recommendations.     

Pose Controlled Physically Based Motion

In this paper we describe a new method for generating and controlling physically‐based motion of complex articulated characters. Our goal is to create motion from scratch, where the animator provides a small amount of input and gets in return a highly detailed and physically plausible motion. Our method relieves the animator from the burden of enforcing physical plausibility, but at the same time provides full control over the internal DOFs of the articulated character via a familiar interface. Control over the global DOFs is also provided by supporting kinematic constraints. Unconstrained portions of the motion are generated in real time, since the character is driven by joint torques generated by simple feedback controllers. Although kinematic constraints are satisfied using an iterative search (shooting), this process is typically inexpensive, since it only adjusts a few DOFs at a few time instances. The low expense of the optimization, combined with the ability to generate unconstrained motions in real time yields an efficient and practical tool, which is particularly attractive for high inertia motions with a relatively small number of kinematic constraints.     

Miniature differential mobility spectrometry using atmospheric pressure photoionization

Positive and negative ion spectra have been obtained with a miniature differential mobility spectrometer equipped with a photoionization source operating at atmospheric pressure. With benzene as a dopant, providing C6H6+ as reactant ion, protonated molecular ions and proton-bound dimer ions were obtained with dimethyl methylphosphonate and butanone. The spectra obtained from gas chromatographic injections of aromatic hydrocarbons, benzene, toluene, and the xylenes, produced the molecular ions when the moisture level was very low, but at a high level the hydrated proton was also present. Possible mechanisms for the formation of protonated products are discussed. Negative ions were produced from electron capture by sulfur hexafluoride using benzene or acetone as dopant. Photoionization of nitrogen dioxide led to the formation of the nitrate ion whose yield was a nonlinear function of concentration. The use of a suitable dopant enhanced ion formation by up to 2 orders of magnitude, and limits of detection in both the positive and negative modes were all at the sub ppm(v) level. The study makes a strong case for the use of a photoionization source as an alternative to the radioactive 63Ni source.     

Test review.

Describes the administration and scoring of the Personal Orientation Inventory (POI), developed by E. L. Shostrom, to measure values and behavior considered by therapists to be important for self-actualization. A review of POI reliability and concurrent validity is presented. The POI is criticized for the following reasons: (a) the decision that POI Time Competence and Inner-Directed Support subscales are the variables most basic to self-actualization is an arbitrary one, (b) traits defined as self-actualizing are culture-specific, (c) neither the therapist nor the client standardization sample is described, and (d) no distinctions are made between the concepts of self-actualization and mental health. It is concluded that the POI may be used as a therapeutic device to facilitate personal exploration of life style but is of limited value as either a diagnostic or research instrument. (PsycINFO Database Record (c) 2010 APA, all rights reserved)