Situational reasoning for road driving in an urban environment

Robot navigation in urban environments requires situational reasoning. Given the complexity of the environment and the behavior specified by traffic rules, it is necessary to recognize the current situation to impose the correct traffic rules. In an attempt to manage the complexity of the situational reasoning subsystem, this paper describes a finite state machine model to govern the situational reasoning process. The logic state machine and its interaction with the planning system are discussed. The approach was implemented on Alice, Team Caltech’s entry into the 2007 DARPA Urban Challenge. Results from the qualifying rounds are discussed. The approach is validated and the shortcomings of the implementation are identified

The mature female clothing shopper : profiles and shopping behaviour

The original publication is available at http://www.sajip.co.zaCITATION: Visser, E.M., Du Preez, R. & Du Toit, J.B. 1996. The mature female clothing shopper : profiles and shopping behaviour. SA Journal of Industrial Psychology, 22(2):1-6, doi:10.4102/sajip.v22i2.603.This study was designed to profile the mature female clothing shopper. More specifically certain variables that could be attributed to differences in consumer behaviour were investigated. Mature female clothing shoppers were segmented as clothing moderates, clothing enthusiasts and the clothing unconcerned. These three cluster groups significantly differed regarding clothing involvement, clothing orientation, activities, interests, opinions, family orientation, needs and media usage. No significant differences were found among the three groups regarding evaluative criteria for clothing and clothing store attributes. Profiles of the clusters were developed, along with applicable marketing implications. Recommendations for further research are made.Hierdie studie is onderneem ten einde die vroulike kledingverbruikers van 55 en ouer te tipeer. Die veranderlikes wat 'n bydrae kon lewer ten opsigte van die verskille in verbruikersgedrag is ondersoek. Die verbruikers is gesegmenteer as die kledinggematigdes, kleding- entoesiaste en die kleding-onbetrokkenes. Die drie groeperings verskil beduidend van mekaar ten opsigte van die volgende veranderlikes naamlik: kleding-betrokkenheid, kleding-oriëntasie, aktiwiteite belangstellings, opinies, familie oriëntasie, behoeftes en media gebruik. Geen beduidende verskille kon gevind word tussen die drie groeperings ten opsigte van die veranderlikes evalueringskriteria van klere en winkeleienskappe nie. Profiele van die verskillende trosse is ontwikkel en die bemarkingsimplikasies is uitgewys. Aanbevelings vir verdere navorsing word gedoen.Publishers' Versio

Malolactic Fermentation: The ABC’s of MLF

There are two main fermentations associated with the winemaking process. Alcoholic fermentation is conducted bythe yeast culture and malolactic fermentation takes place as a result of the metabolic activity of lactic acid bacteria,specifically from the genera Oenococcus, Lactobacillus, Pediococcus and Leuconostoc. Malolactic fermentation isdefined as the conversion of malic acid to lactic acid and CO2 and besides deacidification also contributes to microbialstability and modification of the aroma profile. This paper aims to provide a comprehensive review discussing all themain aspects and factors related to malolactic fermentation, including practical considerations for monitoring andensuring a successful fermentation

Persistent pain following ankle sprain: Bilateral accessory soleus muscles

Persistent pain following ankle sprain remains a difficult diagnostic and management dilemma. We report a 22 year old rugby player who presented with a persistent painful left ankle following a minor ankle sprain. After examination and imaging investigations, a symptomatic accessory soleus muscle was diagnosed on the left ankle, and an asymptomatic accessory soleus muscle on the right

Continuous renal replacement therapy: current practice in Australian and New Zealand intensive care units

BACKGROUND: Large multicentre studies of continuous renal replacement therapy (CRRT) in critically ill patients may influence its bedside prescription and practical application. Despite this, many aspects of CRRT may not be informed by evidence but remain a product of clinician preference. Little was known about current CRRT practice in Australia and New Zealand and it is not known if the evidence from recent studies has been integrated into practice. DESIGN AND SETTING: A prospective online survey of CRRT practice was sent to intensive care unit medical and nursing clinicians via three national databases in Australian and New Zealand ICUs in December 2013 to March 2014. RESULTS: There were 194 respondents from 106 ICUs; 49 ICUs (47%) were in tertiary metropolitan hospitals. One hundred and two respondents (54%) reported continuous venovenous haemodiafiltration as the most common CRRT technique, with a combination of predilution and postdilution of CRRT solutions. The prescription for CRRT was variable, with respondents indicating preferences for therapy based on L/hour (53%) or a weight-adjusted treatment in mL/kg/hour (47%). For all modes of CRRT, the common blood flow rates applied were 151-200mL/ minute and 201-250mL/minute. Few respondents reported preferring flow rates < 150 mL/minute or > 300mL/minute. Unfractionated heparin was the most commonly used anticoagulant (83%), followed by regional citrate. Femoral vein vascular access was preferred and, typically, a 20 cm length catheter was used. Bard Niagara and Arrow catheters were most frequently used. The Gambro Prismaflex was the dominant machine used (71%). CONCLUSIONS: Our results provide insight into existing clinical management of CRRT. There is considerable variation in the prescription of CRRT in Australian and New Zealand ICUs

Faster Blood Flow Rate Does Not Improve Circuit Life in Continuous Renal Replacement Therapy: A Randomized Controlled Trial

Objectives: To determine whether blood flow rate influences circuit life in continuous renal replacement therapy. Design: Prospective randomized controlled trial. Setting: Single center tertiary level ICU. Patients: Critically ill adults requiring continuous renal replacement therapy. Interventions: Patients were randomized to receive one of two blood flow rates: 150 or 250 mL/min. Measurements and Main Results: The primary outcome was circuit life measured in hours. Circuit and patient data were collected until each circuit clotted or was ceased electively for nonclotting reasons. Data for clotted circuits are presented as median (interquartile range) and compared using the Mann-Whitney U test. Survival probability for clotted circuits was compared using log-rank test. Circuit clotting data were analyzed for repeated events using hazards ratio. One hundred patients were randomized with 96 completing the study (150 mL/min, n = 49; 250 mL/min, n = 47) using 462 circuits (245 run at 150 mL/min and 217 run at 250 mL/min). Median circuit life for first circuit (clotted) was similar for both groups (150 mL/min: 9.1 hr [5.5–26 hr] vs 10 hr [4.2–17 hr]; p = 0.37). Continuous renal replacement therapy using blood flow rate set at 250 mL/min was not more likely to cause clotting compared with 150 mL/min (hazards ratio, 1.00 [0.60–1.69]; p = 0.68). Gender, body mass index, weight, vascular access type, length, site, and mode of continuous renal replacement therapy or international normalized ratio had no effect on clotting risk. Continuous renal replacement therapy without anticoagulation was more likely to cause clotting compared with use of heparin strategies (hazards ratio, 1.62; p = 0.003). Longer activated partial thromboplastin time (hazards ratio, 0.98; p = 0.002) and decreased platelet count (hazards ratio, 1.19; p = 0.03) were associated with a reduced likelihood of circuit clotting. Conclusions: There was no difference in circuit life whether using blood flow rates of 250 or 150 mL/min during continuous renal replacement therapy

Evaluation of Urea and Creatinine change during Continuous Renal Replacement Therapy: Effect of blood flow rate

OBJECTIVE: To determine if faster blood flow rate (BFR) has an effect on solute maintenance in continuous renal replacement therapy. DESIGN: Prospective randomised controlled trial. SETTING: 24-bed, single centre, tertiary level intensive care unit. PARTICIPANTS: Critically ill adults requiring continuous renal replacement therapy (CRRT). INTERVENTIONS: Patients were randomised to receive one of two BFRs: 150 mL/min or 250 mL/min. MAIN OUTCOME MEASURES: Changes in urea and creatinine concentrations (percentage change from baseline) and delivered treatment for each 12-hour period were used to assess solute maintenance. RESULTS: 100 patients were randomised, with 96 completing the study (49 patients, 150 mL/min; 47 patients, 250 mL/min). There were a total of 854 12-hour periods (421 periods, 150 mL/min; 433 periods, 250 mL/ min). Mean hours of treatment per 12 hours was 6.3 hours (standard deviation [SD], 3.7) in the 150 mL/min group, and 6.7 hours (SD, 3.9) in the 250 mL/min group (P = 0.6). There was no difference between the two BFR groups for change in mean urea concentration (150 mL/min group, –0.06%; SD, 0.015; v 250 mL/min group, –0.07%; SD, 0.01; P = 0.42) or change in mean creatinine concentration (150 mL/min, –0.05%; SD, 0.01; v 250 mL/min, –0.08%; SD, 0.01; P = 0.18). Independent variables associated with a reduced percentage change in mean serum urea and creatinine concentrations were low haemoglobin levels (–0.01%; SD, 0.005; P = 0.002; and 0.01%; SD, 0.005; P = 0.006, respectively) and less hours treated (–0.023%; SD, 0.001; P = 0.000; and –0.02%; SD, 0.002; P = 0.001, respectively). No effect for bodyweight was found. CONCLUSIONS: Faster BFR did not affect solute control in patients receiving CRRT; however, differences in urea and creatinine concentrations were influenced by serum haemoglobin and hours of treatment

The Role of CT-Based Attenuation Correction and Collimator Blurring Correction in Striatal Spect Quantification

Purpose. Striatal single photon emission computed tomography (SPECT) imaging of the dopaminergic system is becoming increasingly used for clinical and research studies. The question about the value of nonuniform attenuation correction has become more relevant with the increasing availability of hybrid SPECT-CT scanners. In this study, the value of nonuniform attenuation correction and correction for collimator blurring were determined using both phantom data and patient data. Methods. SPECT imaging was performed using 7 anthropomorphic phantom measurements, and 14 patient studies using [I-123]-FP-CIT (DATSCAN). SPECT reconstruction was performed using uniform and nonuniform attenuation correction and collimator blurring corrections. Recovery values (phantom data) or average-specific uptake ratios (patient data) for the different reconstructions were compared at similar noise levels. Results. For the phantom data, improved recovery was found with nonuniform attenuation correction and collimator blurring corrections, with further improvement when performed together. However, for patient data the highest average specific uptake ratio was obtained using collimator blurring correction without nonuniform attenuation correction, probably due to subtle SPECT-CT misregistration. Conclusions. This study suggests that an optimal brain SPECT reconstruction (in terms of the lowest bias) in patients would include a correction for collimator blurring and uniform attenuation correction

The outcome of familial adenomatous polyposis in the absence of a polyposis registry

No Abstract