Map matching and heuristic elimination of gyro drift for personal navigation systems in GPS-denied conditions

This paper introduces a method for the substantial reduction of heading errors in inertial navigation systems used under GPS-denied conditions. Presumably, the method is applicable for both vehicle-based and personal navigation systems, but experiments were performed only with a personal navigation system called 'personal dead reckoning' (PDR). In order to work under GPS-denied conditions, the PDR system uses a foot-mounted inertial measurement unit (IMU). However, gyro drift in this IMU can cause large heading errors after just a few minutes of walking. To reduce these errors, the map-matched heuristic drift elimination (MAPHDE) method was developed, which estimates gyro drift errors by comparing IMU-derived heading to the direction of the nearest street segment in a database of street maps. A heuristic component in this method provides tolerance to short deviations from walking along the street, such as when crossing streets or intersections. MAPHDE keeps heading errors almost at zero, and, as a result, position errors are dramatically reduced. In this paper, MAPHDE was used in a variety of outdoor walks, without any use of GPS. This paper explains the MAPHDE method in detail and presents experimental results.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/90785/1/0957-0233_22_2_025205.pd

ANTIBODY-MEDIATED SUPPRESSION OF GRAFTED LYMPHOMA CELLS : II. PARTICIPATION OF MACROPHAGES

Specific alloantibody admixed with a grafted murine lymphoma is suppressive of the graft in mice of the inbred strain native to the tumor. Suppressive capacity of the host is obviated in mice given 500 R whole body irradiation before tumor inoculation but is restored when normal peritoneal macrophages are admixed with the tumor-antibody inoculum. Other normal cell types admixed with the tumor-antibody inoculum are not effective in restoring suppressive capacity

The equity premium in a small open economy, and an application to Israel

In this paper we attempt to reproduce both the business cycle facts and the equity premium of the Israeli economy—an economy which is "typical" in the sense that investment is much more volatile than output (and consumption). We show that GHH preferences, which are quite common in RBC models of small open economies, are not suited for reproducing both the business cycle and the equity premium facts of a "typical" small open economy. We found that a way to progress is to "correct" the GHH preferences by adding some degree of wealth effect on labor supply. That is, by switching to the Jaimovich-Rebelo (2006) type of preferences. However, in this case we also need to add to the model some kind of limitations on labor supply (we used both real wage rigidity and habits in labor). Our main finding is that the use of Jaimovich-Rebelo preferences considerably improves the results relative to that achieved by GHH preferences. The reason for this is that the GHH preferences are characterized by a relatively high degree of substitutability between consumption and leisure and this moderates the volatility of the stochastic discount factor (SDF). By adding some degree of wealth effect we can achieve a significant increase in the volatility of the SDF, and hence an increase in the equity premium and in the volatility of investment. Following the relevant literature we used three shocks: to productivity, to government expenditure and to the world interest rate. Our analysis suggests that by adding one or more of two kinds of shocks: shocks to wealth and shocks to the real exchange rate – one can achieve a significant progress in reproducing both the business cycle facts and the equity premium

Report of the NIH task force on research standards for chronic low back pain

Abstract Despite rapidly increasing intervention, functional disability due to chronic low back pain (cLBP) has increased in recent decades. We often cannot identify mechanisms to explain the major negative impact cLBP has on patients\u27 lives. Such cLBP is often termed non-specific, and may be due to multiple biologic and behavioral etiologies. Researchers use varied inclusion criteria, definitions, baseline assessments, and outcome measures, which impede comparisons and consensus. The NIH Pain Consortium therefore charged a Research Task Force (RTF) to draft standards for research on cLBP. The resulting multidisciplinary panel recommended using 2 questions to define cLBP; classifying cLBP by its impact (defined by pain intensity, pain interference, and physical function); use of a minimal data set to describe research participants (drawing heavily on the PROMIS methodology); reporting responder analyses in addition to mean outcome scores; and suggestions for future research and dissemination. The Pain Consortium has approved the recommendations, which investigators should incorporate into NIH grant proposals. The RTF believes these recommendations will advance the field, help to resolve controversies, and facilitate future research addressing the genomic, neurologic, and other mechanistic substrates of chronic low back pain. We expect the RTF recommendations will become a dynamic document, and undergo continual improvement. PERSPECTIVE: A Task Force was convened by the NIH Pain Consortium, with the goal of developing research standards for chronic low back pain. The results included recommendations for definitions, a minimal dataset, reporting outcomes, and future research. Greater consistency in reporting should facilitate comparisons among studies and the development of phenotypes

Mobile robot positioning: Sensors and techniques

Exact knowledge of the position of a vehicle is a fundamental problem in mobile robot applications. In search of a solution, researchers and engineers have developed a variety of systems, sensors, and techniques for mobile robot positioning. This article provides a review of relevant mobile robot positioning technologies. The article defines seven categories for positioning systems: (1) Odometry, (2) Inertial Navigation, (3) Magnetic Compasses, (4) Active Beacons, (5) Global Positioning Systems, (6) Landmark Navigation, and (7) Model Matching. The characteristics of each category are discussed and examples of existing technologies are given for each category. The field of mobile robot navigation is active and vibrant, with more great systems and ideas being developed continuously. For this reason the examples presented in this article serve only to represent their respective categories, but they do not represent a judgment by the authors. Many ingenious approaches can be found in the literature, although, for reasons of brevily, not all could be cited in this article. © 1997 John Wiley & Sons, Inc.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/34938/1/2_ftp.pd

Citrulline as a marker of intestinal function and absorption in clinical settings: A systematic review and meta-analysis

Background: Citrulline has been described as a marker of intestinal function or absorption but evidence varies according to clinical settings. Objective: The objective of this article is to examine the evidence of plasma citrulline as a marker of intestinal function and absorption in various clinical settings. Methods: Studies were examined for p values, means and standard deviations, correlation coefficients or other metrics depicting the association of citrulline with intestinal function. A random effects model was used to produce a pooled estimate. A hierarchical summary receiver operating curve model was fitted for diagnostic accuracy measures. Results: Citrulline levels are correlated strongly with small bowel length in short bowel syndrome patients (r = 0.67). Citrulline is strongly negatively correlated (r = –0.56) with intestinal disease severity with regards to enteropathies (coeliac disease, tropical enteropathy, Crohn’s disease, mucositis, acute rejection in intestinal transplantation). Citrulline cut-off levels have an overall sensitivity and specificity of 80% and 84% respectively. Citrulline levels in untreated coeliac patients compared to controls were reduced by 10 µmol/l. Citrulline levels increase with gluten-free diet and with improvement of enteropathy. Citrulline is decreased in critical illness and sepsis. Conclusion: These findings allow us to advocate quite reasonably that citrulline is a marker of acute and chronic intestinal insufficiency

Type 2 Diabetes as a Risk Factor for Dementia in Women Compared With Men: A Pooled Analysis of 2.3 Million People Comprising More Than 100,000 Cases of Dementia

Objective: Type 2 diabetes confers a greater excess risk of cardiovascular disease in women than in men. Diabetes is also a risk factor for dementia, but whether the association is similar in women and men remains unknown. We performed a meta-analysis of unpublished data to estimate the sex-specific relationship between women and men with diabetes with incident dementia. Research design and methods: A systematic search identified studies published prior to November 2014 that had reported on the prospective association between diabetes and dementia. Study authors contributed unpublished sex-specific relative risks (RRs) and 95% CIs on the association between diabetes and all dementia and its subtypes. Sex-specific RRs and the women-to-men ratio of RRs (RRRs) were pooled using random-effects meta-analyses. Results: Study-level data from 14 studies, 2,310,330 individuals, and 102,174 dementia case patients were included. In multiple-adjusted analyses, diabetes was associated with a 60% increased risk of any dementia in both sexes (women: pooled RR 1.62 [95% CI 1.45-1.80]; men: pooled RR 1.58 [95% CI 1.38-1.81]). The diabetes-associated RRs for vascular dementia were 2.34 (95% CI 1.86-2.94) in women and 1.73 (95% CI 1.61-1.85) in men, and for nonvascular dementia, the RRs were 1.53 (95% CI 1.35-1.73) in women and 1.49 (95% CI 1.31-1.69) in men. Overall, women with diabetes had a 19% greater risk for the development of vascular dementia than men (multiple-adjusted RRR 1.19 [95% CI 1.08-1.30]; P \u3c 0.001). Conclusions: Individuals with type 2 diabetes are at ∼60% greater risk for the development of dementia compared with those without diabetes. For vascular dementia, but not for nonvascular dementia, the additional risk is greater in women

A systematic review of the experience, occurrence, and controllability of flow states in elite sport

Objectives: This study aimed to provide an up-to-date summary of the literature on flow in elite sport, specifically relating to: (i) how flow is experienced; (ii) how these states occur; and (iii) the potential controllability of flow. Design: Systematic review. Methods: A comprehensive literature search of SPORTdiscus, PsycINFO, SAGE journals online, INGENTA connect, and Web of Knowledge was completed in August, 2011, and yielded 17 empirical studies published between 1992 and 2011. The primarily qualitative findings were analysed thematically and synthesised using a narrative approach. Results: Findings indicated that: (i) some flow dimensions appear to be experienced more consistently than others; (ii) key factors were consistently reported to induce or inhibit flow occurrence; and (iii) the perception that flow experiences could be controllable to some extent, and are not merely ‘coincidental’. Additionally, it is appears that physiology is also relevant in flow, and these experiences may be psychophysiological. Conclusions: Based on these findings, recommendations are made including the need for researchers to move from description to explanation of flow, the use of new methodologies, greater focus on the role of personality factors, and possible refinements of existing flow theory to be more specific to sport

Vitamin D and subsequent all-age and premature mortality: a systematic review

<br>Background: All-cause mortality in the population < 65 years is 30% higher in Glasgow than in equally deprived Liverpool and Manchester. We investigated a hypothesis that low vitamin D in this population may be associated with premature mortality via a systematic review and meta-analysis.</br> <br>Methods: Medline, EMBASE, Web of Science, the Cochrane Library and grey literature sources were searched until February 2012 for relevant studies. Summary statistics were combined in an age-stratified meta-analysis.</br> <br>Results: Nine studies were included in the meta-analysis, representing 24,297 participants, 5,324 of whom died during follow-up. The pooled hazard ratio for low compared to high vitamin D demonstrated a significant inverse association (HR 1.19, 95% CI 1.12-1.27) between vitamin D levels and all-cause mortality after adjustment for available confounders. In an age-stratified meta-analysis, the hazard ratio for older participants was 1.25 (95% CI 1.14-1.36) and for younger participants 1.12 (95% CI 1.01-1.24).</br> <br>Conclusions: Low vitamin D status is inversely associated with all-cause mortality but the risk is higher amongst older individuals and the relationship is prone to residual confounding. Further studies investigating the association between vitamin D deficiency and all-cause mortality in younger adults with adjustment for all important confounders (or using randomised trials of supplementation) are required to clarify this relationship.</br&gt