Behavioral Mapless Navigation Using Rings

This paper presents work on the development and implementation of a novel approach to robotic navigation. In this system, map-building and localization for obstacle avoidance are discarded in favor of moment-by-moment behavioral processing of the sonar sensor data. To accomplish this, we developed a network of behaviors that communicate through the passing of rings, data structures that are similar in form to the sonar data itself and express the decisions of each behavior. Through the use of these rings, behaviors can moderate each other, conflicting impulses can be mediated, and designers can easily connect modules to create complex emergent navigational techniques. We discuss the development of a number of these modules and their successful use as a navigation system in the Trinity omnidirectional robot

The Luminosity Function of Young Star Clusters In "The Antennae" Galaxies (NGC 4038/4039)

The WFPC2 of the HST has been used to obtain high-resolution images of NGC 4038/4039 that go roughly 3 magnitudes deeper in V than previous observations made during Cycle 2 (-14 < M_V < -6). To first order the luminosity function (LF) is a power law, with exponent \alpha = -2.12 +/- 0.04. However, after decoupling the cluster and stellar LFs, which overlap in the range -9 < M_V < -6, we find an apparent bend in the young cluster LF at approximately M_V = -10.4. The LF has a power law exponent -2.6 +/- 0.2 in the brightward and -1.7 +/- 0.2 in the faintward. The bend corresponds to a mass ~ 10^5 M_{\odot}, only slightly lower than the characteristic mass of globular clusters in the Milky Way (~2x10^5 M_{\odot}). The star clusters of the Antennae appear slightly resolved, with median effective radii of 4 +/- 1 pc, similar to or perhaps slightly larger than those of globular clusters in our Galaxy. However, the radial extents of some of the very young clusters (ages < 10 Myr) are much larger than those of old globular clusters. A combination of the UBVI colors, \Halpha morphology, and GHRS spectra enables us to age-date the clusters in different regions of The Antennae. We find two groups of young star clusters with ages <~ 20Myr and ~100Myr, as well as an intermediate-age group (~500 Myr) and a handful of old globular clusters from the progenitor galaxies. Age estimates derived from GHRS spectroscopy yield 3 +/- 1 Myr for Knot K (just south of the nucleus of NGC 4038) and 7 +/- 1 Myr for Knot S in the Western Loop, in good agreement with ages derived from the UBVI colors. Effective gas-outflow velocities from Knots S and K are estimated to be about 25-30 km/s. However, the measured widths of the interstellar absorption lines suggest dispersion velocities of ~400 km/s along the lines of sight to Knots S and K.Comment: 56 pages, 4 tables and 23 figures, texts in AAS style, to be published in A

Verifying the Safety of a Flight-Critical System

This paper describes our work on demonstrating verification technologies on a flight-critical system of realistic functionality, size, and complexity. Our work targeted a commercial aircraft control system named Transport Class Model (TCM), and involved several stages: formalizing and disambiguating requirements in collaboration with do- main experts; processing models for their use by formal verification tools; applying compositional techniques at the architectural and component level to scale verification. Performed in the context of a major NASA milestone, this study of formal verification in practice is one of the most challenging that our group has performed, and it took several person months to complete it. This paper describes the methodology that we followed and the lessons that we learned.Comment: 17 pages, 5 figure

Optimizing Perioperative Decision Making: Improved Information for Clinical Workflow Planning

Perioperative care is complex and involves multiple interconnected subsystems. Delayed starts, prolonged cases and overtime are common. Surgical procedures account for 40–70% of hospital revenues and 30–40% of total costs. Most planning and scheduling in healthcare is done without modern planning tools, which have potential for improving access by assisting in operations planning support. We identified key planning scenarios of interest to perioperative leaders, in order to examine the feasibility of applying combinatorial optimization software solving some of those planning issues in the operative setting. Perioperative leaders desire a broad range of tools for planning and assessing alternate solutions. Our modeled solutions generated feasible solutions that varied as expected, based on resource and policy assumptions and found better utilization of scarce resources. Combinatorial optimization modeling can effectively evaluate alternatives to support key decisions for planning clinical workflow and improving care efficiency and satisfaction

A common founding clone with TP53 and PTEN mutations gives rise to a concurrent germ cell tumor and acute megakaryoblastic leukemia

We report the findings from a patient who presented with a concurrent mediastinal germ cell tumor (GCT) and acute myeloid leukemia (AML). Bone marrow pathology was consistent with a diagnosis of acute megakaryoblastic leukemia (AML M7), and biopsy of an anterior mediastinal mass was consistent with a nonseminomatous GCT. Prior studies have described associations between hematological malignancies, including AML M7 and nonseminomatous GCTs, and it was recently suggested that a common founding clone initiated both cancers. We performed enhanced exome sequencing on the GCT and the AML M7 from our patient to define the clonal relationship between the two cancers. We found that both samples contained somatic mutations in PTEN (C136R missense) and TP53 (R213 frameshift). The mutations in PTEN and TP53 were present at ∼100% variant allele frequency (VAF) in both tumors. In addition, we detected and validated five other shared somatic mutations. The copy-number analysis of the AML exome data revealed an amplification of Chromosome 12p. We also identified a heterozygous germline variant in FANCA (S858R), which is known to be associated with Fanconi anemia but is of uncertain significance here. In summary, our data not only support a common founding clone for these cancers but also suggest that a specific set of distinct genomic alterations (in PTEN and TP53) underlies the rare association between GCT and AML. This association is likely linked to the treatment resistance and extremely poor outcome of these patients. We cannot resolve the clonal evolution of these tumors given limitations of our data

Koinonia

In This IssueThe Fabric of Our Faithfulness: Part 1, David S. Guthrie What is the Sophomore Slump-and Why Should We Care?: Excerpted from Visible Solutions for Invisible Students: Helping Sophomores Succeed, by Laurie A. Schreiner & Jerry Pattengale Around CampusServant Leadership, Tess Bradley The 7 Be\u27s of Student Leader Supervision, Jesse Brown Spotlight on SpeakersJohn 7:53-8:11: The Politically Correct Version, Calvin Miller Regular FeaturesPresident\u27s Corner Editor\u27s Disk ACSD Business: Placement Services 2001, Conference Thoughts: Something Old...Something New..., Submissions Soughthttps://pillars.taylor.edu/acsd_koinonia/1031/thumbnail.jp

The Type II Superluminous SN 2008es at Late Times: Near-Infrared Excess and Circumstellar Interaction

SN 2008es is one of the rare cases of a Type II superluminous supernova (SLSN) showing no relatively narrow features in its early-time spectra, and therefore its powering mechanism is under debate between circumstellar interaction (CSI) and magnetar spin-down. Late-time data are required for better constraints. We present optical and near-infrared (NIR) photometry obtained from Gemini, Keck, and Palomar Observatories from 192 to 554 days after explosion. Only broad H$\alpha$ emission is detected in a Gemini spectrum at 288 days. The line profile exhibits red-wing attenuation relative to the early-time spectrum. In addition to the cooling SN photosphere, a NIR excess with blackbody temperature $\sim1500$ K and radius $\sim10^{16}$ cm is observed. This evidence supports dust condensation in the cool dense shell being responsible for the spectral evolution and NIR excess. We favour CSI, with $\sim2$--3 $\textrm{M}_\odot$ of circumstellar material (CSM) and $\sim$10--20 $\textrm{M}_\odot$ of ejecta, as the powering mechanism, which still dominates at our late-time epochs. Both models of uniform density and steady wind fit the data equally well, with an effective CSM radius $\sim 10^{15}$ cm, supporting the efficient conversion of shock energy to radiation by CSI. A low amount ($\lesssim 0.4$ $\textrm{M}_\odot$) of $^{56}$Ni is possible but cannot be verified yet, since the light curve is dominated by CSI. The magnetar spin-down powering mechanism cannot be ruled out, but is less favoured because it overpredicts the late-time fluxes and may be inconsistent with the presence of dust

Exploring physical exposures and identifying high-risk work tasks within the floor layer trade

INTRODUCTION: Floor layers have high rates of musculoskeletal disorders yet few studies have examined their work exposures. This study used observational methods to describe physical exposures within floor laying tasks. METHODS: We analyzed 45 videos from 32 floor layers using Multimedia-Video Task Analysis software to determine the time in task, forces, postures, and repetitive hand movements for installation of four common flooring materials. We used the WISHA checklists to define exposure thresholds. RESULTS: Most workers (91%) met the caution threshold for one or more exposures. Workers showed high exposures in multiple body parts with variability in exposures across tasks and for different materials. Prolonged exposures were seen for kneeling, poor neck and low back postures, and intermittent but frequent hand grip forces. CONCLUSIONS: Floor layers experience prolonged awkward postures and high force physical exposures in multiple body parts, which probably contribute to their high rates of musculoskeletal disorders

The first accurate parallax distance to a black hole

Using astrometric VLBI observations, we have determined the parallax of the black hole X-ray binary V404 Cyg to be 0.418 +/- 0.024 milliarcseconds, corresponding to a distance of 2.39 +/- 0.14 kpc, significantly lower than the previously accepted value. This model-independent estimate is the most accurate distance to a Galactic stellar-mass black hole measured to date. With this new distance, we confirm that the source was not super-Eddington during its 1989 outburst. The fitted distance and proper motion imply that the black hole in this system likely formed in a supernova, with the peculiar velocity being consistent with a recoil (Blaauw) kick. The size of the quiescent jets inferred to exist in this system is less than 1.4 AU at 22 GHz. Astrometric observations of a larger sample of such systems would provide useful insights into the formation and properties of accreting stellar-mass black holes.Comment: Accepted for publication in ApJ Letters. 6 pages, 2 figure