An Autonomous Palm-Sized Gliding Micro Air Vehicle

This article has concentrated on the development of a set of core technologies key to the realization of an autonomous 2-g glider. One aspect which was not discussed in detail was the ease of construction and low cost of an individual MicroGlider. Integration is simplified through a number of rapid prototyping techniques and the low costs of most components allow rigorous testing to be done without worry of substantial damage.     

Correlates of osteopenia in patients with cystic fibrosis

The responses to heat shock in Tritrichomonas mobilensis, a squirrel monkey parasite and Tritrichomonas augusta, an amphibian trichomonad, were evaluated by means of metabolic labeling with [35S]methionine. Electrophoretically separated trichomonad proteins synthesized at different temperatures were visualized by autoradiography and the label incorporation quantitated by a trichloroacetic acid precipitation procedure. A considerable difference in thermotolerance between the two species was found as the protein synthesis reached a maximum at 41 C in T. mobilensis and 37 C in T. augusta. The latter tolerated temperature increases 13 C above normal cultivation temperatures as compared to only 4 C thermotolerance range above normal in T. mobilensis. Major heat shock proteins (Hsps) were expressed in both T. mobilensis (with apparent Mr 94, 72, and 58 kDa) and T. augusta (Mr 94, 70, and 56 kDa) as revealed by autoradiography. Western blot analysis with polyclonal antibody against DnaK of Escherichia coli showed the presence of antigenic Hsp70 homologs in both trichomonads. Similarly, a polyclonal antibody against Hsp60 with broad interspecies cross-reactivity detected Hsp60 homologs in both T. mobilensis and T. augusta. The anti-DnaK antibody cross-reacted with a T. mobilensis protein localized in Golgi apparatus as demonstrated by immunoelectron microscopy. Immunocytochemistry on trichomonad frozen sections revealed the presence of the Hsp60 homolog in light-microscopic granules corresponding to hydrogenosomes.     

Gossip-based aggregation of trust in decentralized reputation systems

Decentralized Reputation Systems have recently emerged as a prominent method of establishing trust among self-interested agents in online environments. A key issue is the efficient aggregation of data in the system; several approaches have been proposed, but they are plagued by major shortcomings. We put forward a novel, decentralized data management scheme grounded in gossip-based algorithms. Rumor mongering is known to possess algorithmic advantages, and indeed, our framework inherits many of their salient features: scalability, robustness, a global perspective, and simplicity. We demonstrate that our scheme motivates agents to maintain a very high reputation, by showing that the higher an agent’s reputation is above the threshold set by its peers, the more transactions it would be able to complete within a certain time unit. We analyze the relation between the amount by which an agent’s average reputation exceeds the threshold and the time required to close a deal. This analysis is carried out both theoretically, and empirically through a simulation system called GossipTrustSim. Finally, we show that our approach is inherently impervious to certain kinds of attacks. A preliminary version of this article appeared in the proceedings of IJCAI 2007.     

The state of the state mental hospital 1996

OBJECTIVES: This analytical review is intended to update the author's earlier writings on the position of the state mental hospital within the spectrum of services for long-term mental patients and to provide perspective for the next generation of service planners. METHODS: Findings and commentary are organized around four major questions. First, what is the prevailing view of state mental hospitals today, and how does it compare with the view that existed in the first half of this century? Second, what individuals tend to be served in state mental hospitals today? Third, what has been the fate of mentally ill persons who are no longer served in state mental hospitals? Fourth, what is an appropriate role for the state mental hospital in today's uncertain and rapidly changing systems of care? Source material consists of periodical articles suggested in MEDLINE searches, plus newspaper reports, recent books on mental health service systems, and a variety of writings found in the "fugitive" literature generally not indexed in traditional archives. RESULTS AND CONCLUSIONS: Individual state mental hospitals vary in the composition of their resident populations, the content of their services, and the overall quality of their care. Although they have been superseded by community-based service structures in some places, they continue in general, as the result of their multifunctionality, to occupy a critical place in systems of care. Renewed efforts to integrate them as full partners within those systems must be undertaken.     

RANGE–Robust autonomous navigation in GPS‐denied environments

This paper addresses the problem of autonomous navigation of a micro air vehicle (MAV) in GPS‐denied environments. We present experimental validation and analysis for our system that enables a quadrotor helicopter, equipped with a laser range finder sensor, to autonomously explore and map unstructured and unknown environments. The key challenge for enabling GPS‐denied flight of a MAV is that the system must be able to estimate its position and velocity by sensing unknown environmental structure with sufficient accuracy and low enough latency to stably control the vehicle. Our solution overcomes this challenge in the face of MAV payload limitations imposed on sensing, computational, and communication resources. We first analyze the requirements to achieve fully autonomous quadrotor helicopter flight in GPS‐denied areas, highlighting the differences between ground and air robots that make it difficult to use algorithms developed for ground robots. We report on experiments that validate our solutions to key challenges, namely a multilevel sensing and control hierarchy that incorporates a high‐speed laser scan‐matching algorithm, data fusion filter, high‐level simultaneous localization and mapping, and a goal‐directed exploration module. These experiments illustrate the quadrotor helicopter's ability to accurately and autonomously navigate in a number of large‐scale unknown environments, both indoors and in the urban canyon. The system was further validated in the field by our winning entry in the 2009 International Aerial Robotics Competition, which required the quadrotor to autonomously enter a hazardous unknown environment through a window, explore the indoor structure without GPS, and search for a visual target. © 2011 Wiley Periodicals, Inc.     

Composable continuous-space programs for robotic swarms

Programmability is an increasingly important barrier to the deployment of multi-robot systems, as no prior approach allows routine composition and reuse of general aggregate behaviors. The Proto spatial computing language, however, already provides this sort of aggregate behavior programming for non-mobile systems using an abstraction of the network as a continuous-space-filling device. We extend this abstraction to mobile systems and show that Proto can be applied to multi-robot systems with an actuator that turns a vector field into device motion. Proto programs operate on fields of values over an abstract device called the amorphous medium and can be joined together using functional composition. These programs are then automatically transformed for execution by individual devices, producing an approximation of the specified continuous-space behavior. We are thus able to build up a library of simple swarm behaviors, and to compose them together into highly succinct programs that predictably produce the desired complex swarm behaviors, as demonstrated in simulation and on a group of 40 iRobot SwarmBots.     

Insulin-like growth factor binding protein production in human follicular thyroid carcinoma cells

OBJECTIVE: The study investigated the value of using national or regional data bases to examine care in a specific hospital. DATA SOURCES: The following data sources were included: (1) the results of the 1992 HCFA analysis of the index hospital for patients hospitalized in fiscal year 1990; (2) the 1989 Medicare Provider Analysis and Review (MEDPAR) file; and (3) clinical information from bypass surgery patients in Wisconsin and from the index hospital. PRINCIPAL FINDINGS: The assessment of the mortality rates in the index hospital for all conditions combined and for CABG patients differed depending on what data base was used and how the data were analysed. The national data were most useful in establishing that the coding practices for all patients and the mortality rate for intra-aortic balloon patients differed between the index hospital and other hospitals. The regional clinical data base for bypass surgery patients was used to establish that the high mortality rates for intra-aortic balloon patients were due to patient selection. CONCLUSIONS: National claims data must be analysed carefully before applying results to an individual hospital. Even a careful analysis is more for raising questions about care at a specific hospital rather than for reaching definitive conclusions.