Real-Time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions

To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain and/or unknown a priori. This paper presents a novel changepoint detection and clustering algorithm that, when coupled with offline unsupervised learning of a Gaussian process mixture model (DPGP), enables quick detection of changes in intent and online learning of motion patterns not seen in prior training data. The resulting long-term movement predictions demonstrate improved accuracy relative to offline learning alone, in terms of both intent and trajectory prediction. By embedding these predictions within a chance-constrained motion planner, trajectories which are probabilistically safe to pedestrian motions can be identified in real-time. Hardware experiments demonstrate that this approach can accurately predict pedestrian motion patterns from onboard sensor/perception data and facilitate robust navigation within a dynamic environment.Comment: Submitted to 2014 International Workshop on the Algorithmic Foundations of Robotic

What a difference a term makes:the effect of educational attainment on marital outcomes in the UK

Abstract In the past, students in England and Wales born within the first 5 monthsof the academic year could leave school one term earlier than those born later inthe year. Focusing on women, those who were required to stay on an extra termmore frequently hold some academic qualification. Using having been required tostay on as an exogenous factor affecting academic attainment, we find that holding alow-level academic qualification has no effect on the probability of being currentlymarried for women aged 25 or above, but increases the probability of the husbandholding some academic qualification and being economically active.33 Halama

Porous ZnO/Carbon nanocomposites derived from metal organic frameworks for highly efficient photocatalytic applications - A correlational study

This is the author accepted manuscript. The final version is available from Elsevier via the DOI in this record Porous ZnO/C nanocomposites derived from 3 different Zinc based metal-organic frameworks (MOFs) including MOF-5, MOF-74 and ZIF-8, were prepared at high temperature under water-steam atmosphere and their performances in photocatalytic H 2 evolution reaction (HER) and photodegradation of organic dye pollutants were evaluated. The formation mechanism from MOF precursors, the structural properties, morphologies, compositions and textural properties of the derived ZnO/C composites were fully investigated based on different characterization techniques and the correlation between the precursors and the derived composites was discussed. It is evident that MOF precursors determine the crystalline structures, doping profiles, thermal stabilities and metal oxide-carbon weight percentage ratios of the resulting composites. The correlation between MOFs and their derived nanocomposites indicates that different parameters play unalike roles in photocatalytic performances. The desired properties can be tuned by selecting appropriate MOF precursors. MOF-5 derived porous ZnO/C nanocomposite not only exhibits the highest photocatalytic dye degradation activity under visible light among these MOFs, but also outperforms those derived from MOF-74 and ZIF-8 up to 9 and 4 times in photocatalytic HER respectively. This study offers simple and environmentally friendly approaches to further develop new homogeneously dispersed functional metal oxide/carbon composites for various energy and environment-related applications.Engineering and Physical Sciences Research Council (EPSRC)European Commissio

A Flexible 2.45-GHz Power Harvesting Wristband with Net System Output from -24.3 dBm of RF Power

This is the final version. Available from IEEE via the DOI in this recordThis paper presents a flexible 2.45-GHz wireless power harvesting wristband that generates a net dc output from a -24.3-dBm RF input. This is the lowest reported system sensitivity for systems comprising a rectenna and impedance-matching power management. A complete system has been implemented comprising: a fabric antenna, a rectifier on rigid substrate, a contactless electrical connection between rigid and flexible subsystems, and power electronics impedance matching. Various fabric and flexible materials are electrically characterized at 2.45 GHz using the two-line and the T-resonator methods. Selected materials are used to design an all-textile antenna, which demonstrates a radiation efficiency above 62% on a phantom irrespective of location, and a stable radiation pattern. The rectifier, designed on a rigid substrate, shows a best-in-class efficiency of 33.6% at -20 dBm. A reliable, efficient, and wideband contactless connection between the fabric antenna and the rectifier is created using broadside-coupled microstrip lines, with an insertion loss below 1 dB from 1.8 to over 10 GHz. A self-powered boost converter with a quiescent current of 150 nA matches the rectenna output with a matching efficiency above 95%. The maximum end-to-end efficiency is 28.7% at -7 dBm. The wristband harvester demonstrates net positive energy harvesting from -24.3 dBm, a 7.3-dB improvement on the state of the art.Engineering and Physical Sciences Research Council (EPSRC

Enterococcus faecalis Adapts to Antimicrobial Conjugated Oligoelectrolytes by Lipid Rearrangement and Differential Expression of Membrane Stress Response Genes.

Conjugated oligoelectrolytes (COEs) are emerging antimicrobials with broad spectrum activity against Gram positive and Gram negative bacteria as well as fungi. Our previous in vitro evolution studies using Enterococcus faecalis grown in the presence of two related COEs (COE1-3C and COE1-3Py) led to the emergence of mutants (changes in liaF and liaR) with a moderate 4- to16-fold increased resistance to COEs. The contribution of liaF and liaR mutations to COE resistance was confirmed by complementation of the mutants, which restored sensitivity to COEs. To better understand the cellular target of COEs, and the mechanism of resistance to COEs, transcriptional changes associated with resistance in the evolved mutants were investigated in this study. The differentially transcribed genes encoded membrane transporters, in addition to proteins associated with cell envelope synthesis and stress responses. Genes encoding membrane transport proteins from the ATP binding cassette superfamily were the most significantly induced or repressed in COE tolerant mutants compared to the wild type when exposed to COEs. Additionally, differences in the membrane localization of a lipophilic dye in E. faecalis exposed to COEs suggested that resistance was associated with lipid rearrangement in the cell membrane. The membrane adaptation to COEs in EFC3C and EFC3Py resulted in an improved tolerance to bile salt and sodium chloride stress. Overall, this study showed that bacterial cell membranes are the primary target of COEs and that E. faecalis adapts to membrane interacting COE molecules by both lipid rearrangement and changes in membrane transporter activity. The level of resistance to COEs suggests that E. faecalis does not have a specific response pathway to elicit resistance against these molecules and this is supported by the rather broad and diverse suite of genes that are induced upon COE exposure as well as cross-resistance to membrane perturbing stressors

Human-robot shared control for surgical robot based on context-aware sim-to-real adaptation

Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the surgical sub tasks for the construction of the shared control mechanism. However, a sufficient amount of data is required for the robot to learn the manoeuvres. Using a surgical simulator to collect data is a less resource-demanding approach. With sim-to-real adaptation, the manoeuvres learned from a simulator can be transferred to a physical robot. To this end, we propose a sim-to-real adaptation method to construct a human-robot shared control framework for robotic surgery. In this paper, a desired trajectory is generated from a simulator using LfD method, while dynamic motion primitives (DMP) is used to transfer the desired trajectory from the simulator to the physical robotic platform. Moreover, a role adaptation mechanism is developed such that the robot can adjust its role according to the surgical operation contexts predicted by a neural network model. The effectiveness of the proposed framework is validated on the da Vinci Research Kit (dVRK). Results of the user studies indicated that with the adaptive human-robot shared control framework, the path length of the remote controller, the total clutching number and the task completion time can be reduced significantly. The proposed method outperformed the traditional manual control via teleoperation

Early and efficient detection of Mycobacterium tuberculosis in sputum by microscopic observation of broth cultures.

Early, efficient and inexpensive methods for the detection of pulmonary tuberculosis are urgently needed for effective patient management as well as to interrupt transmission. These methods to detect M. tuberculosis in a timely and affordable way are not yet widely available in resource-limited settings. In a developing-country setting, we prospectively evaluated two methods for culturing and detecting M. tuberculosis in sputum. Sputum samples were cultured in liquid assay (micro broth culture) in microplate wells and growth was detected by microscopic observation, or in Löwenstein-Jensen (LJ) solid media where growth was detected by visual inspection for colonies. Sputum samples were collected from 321 tuberculosis (TB) suspects attending Bugando Medical Centre, in Mwanza, Tanzania, and were cultured in parallel. Pulmonary tuberculosis cases were diagnosed using the American Thoracic Society diagnostic standards. There were a total of 200 (62.3%) pulmonary tuberculosis cases. Liquid assay with microscopic detection detected a significantly higher proportion of cases than LJ solid culture: 89.0% (95% confidence interval [CI], 84.7% to 93.3%) versus 77.0% (95% CI, 71.2% to 82.8%) (p = 0.0007). The median turn around time to diagnose tuberculosis was significantly shorter for micro broth culture than for the LJ solid culture, 9 days (interquartile range [IQR] 7-13), versus 21 days (IQR 14-28) (p<0.0001). The cost for micro broth culture (labor inclusive) in our study was US $4.56 per sample, versus US$11.35 per sample for the LJ solid culture. The liquid assay (micro broth culture) is an early, feasible, and inexpensive method for detection of pulmonary tuberculosis in resource limited settings

Wall roughness induces asymptotic ultimate turbulence

Turbulence is omnipresent in Nature and technology, governing the transport of heat, mass, and momentum on multiple scales. For real-world applications of wall-bounded turbulence, the underlying surfaces are virtually always rough; yet characterizing and understanding the effects of wall roughness for turbulence remains a challenge, especially for rotating and thermally driven turbulence. By combining extensive experiments and numerical simulations, here, taking as example the paradigmatic Taylor-Couette system (the closed flow between two independently rotating coaxial cylinders), we show how wall roughness greatly enhances the overall transport properties and the corresponding scaling exponents. If only one of the walls is rough, we reveal that the bulk velocity is slaved to the rough side, due to the much stronger coupling to that wall by the detaching flow structures. If both walls are rough, the viscosity dependence is thoroughly eliminated in the boundary layers and we thus achieve asymptotic ultimate turbulence, i.e. the upper limit of transport, whose existence had been predicted by Robert Kraichnan in 1962 (Phys. Fluids {\bf 5}, 1374 (1962)) and in which the scalings laws can be extrapolated to arbitrarily large Reynolds numbers

Association between schizophrenia and violence among Chinese female offenders

Little is known about the association between schizophrenia and violence in women in China. This study aimed to examine the association between schizophrenia and violence in Chinese female offenders. Fifty-two schizophrenia patients were identified from the female offenders who received forensic psychiatric assessments in 2011 in Hunan province, China. Using a propensity score matching method, 104 matched controls without psychiatric disorders were selected from female criminals in Hunan province. Violent offences and homicides were verified and recorded. The percentages of violent offences and homicides were significantly higher in female offenders with schizophrenia than in controls (78.8% vs. 30.8%, P \u3c 0.001; 44.2% vs. 18.3%, P = 0.001, respectively). Multivariate logistic regression analyses revealed that diagnosis of schizophrenia, younger age at first offence, living in rural area and a lower education level were independently and positively associated with violent offences, while having a diagnosis of schizophrenia and lower education level were associated with homicides. There appears to be an independent and positive association between schizophrenia and violent offence in Chinese female offenders. Effective preventive approaches on violence in female schizophrenia patients are warranted

Associations of sedentary behaviour, physical activity, blood pressure and anthropometric measures with cardiorespiratory fitness in children with cerebral palsy

Background - Children with cerebral palsy (CP) have poor cardiorespiratory fitness in comparison to their peers with typical development, which may be due to low levels of physical activity. Poor cardiorespiratory fitness may contribute to increased cardiometabolic risk. Purpose - The aim of this study was to determine the association between sedentary behaviour, physical activity and cardiorespiratory fitness in children with CP. An objective was to determine the association between cardiorespiratory fitness, anthropometric measures and blood pressure in children with CP. Methods- This study included 55 ambulatory children with CP [mean (SD) age 11.3 (0.2) yr, range 6-17 yr; Gross Motor Function Classification System (GMFCS) levels I and II]. Anthropometric measures (BMI, waist circumference and waist-height ratio) and blood pressure were taken. Cardiorespiratory fitness was measured using a 10 m shuttle run test. Children were classified as low, middle and high fitness according to level achieved on the test using reference curves. Physical activity was measured by accelerometry over 7 days. In addition to total activity, time in sedentary behaviour and light, moderate, vigorous, and sustained moderate-to-vigorous activity (≥10 min bouts) were calculated. Results - Multiple regression analyses revealed that vigorous activity (β = 0.339, p<0.01), sustained moderate-to-vigorous activity (β = 0.250, p<0.05) and total activity (β = 0.238, p<0.05) were associated with level achieved on the shuttle run test after adjustment for age, sex and GMFCS level. Children with high fitness spent more time in vigorous activity than children with middle fitness (p<0.05). Shuttle run test level was negatively associated with BMI (r2 = -0.451, p<0.01), waist circumference (r2 = -0.560, p<0.001), waist-height ratio (r2 = -0.560, p<0.001) and systolic blood pressure (r2 = -0.306, p<0.05) after adjustment for age, sex and GMFCS level. Conclusions - Participation in physical activity, particularly at a vigorous intensity, is associated with high cardiorespiratory fitness in children with CP. Low cardiorespiratory fitness is associated with increased cardiometabolic risk