Tracking objects with point clouds from vision and touch

We present an object-tracking framework that fuses point cloud information from an RGB-D camera with tactile information from a GelSight contact sensor. GelSight can be treated as a source of dense local geometric information, which we incorporate directly into a conventional point-cloud-based articulated object tracker based on signed-distance functions. Our implementation runs at 12 Hz using an online depth reconstruction algorithm for GelSight and a modified second-order update for the tracking algorithm. We present data from hardware experiments demonstrating that the addition of contact-based geometric information significantly improves the pose accuracy during contact, and provides robustness to occlusions of small objects by the robot's end effector

Dissociation constants and thermodynamic properties of amino acids used in CO2 absorption from (293 to 353) K

The second dissociation constants of the amino acids βalanine, taurine, sarcosine, 6-aminohexanoic acid, DL-methionine, glycine, L-phenylalanine, and L-proline and the third dissociation constants of L-glutamic acid and L-aspartic acid have been determined from electromotive force measurements at temperatures from (293 to 353) K. Experimental results are reported and compared to literature values. Values of the standard state thermodynamic properties are derived from the experimental results and compared to the values of commercially available amines used as absorbents for CO 2 capture.

FFTF implementation of training requirments for government owned facilities

The Fst Flux Facility (FFTF) is a liquid metal cooled, fast flux reactor plant. It is owned by the Department of Energy (DOE) and is operated by the Hanford Engineering Development Laboratory (HEDL) under a DOE contract with Westinghouse Hanford Company. The FFTF is presently undergoing acceptance testing of sodium systems in preparation for initial criticality in August 1979. It will be used to test fuels and materials, to develop associated components and to gain operating experience for future LMFBR's. The FFTF Training Program is a specific example of how training guidelines provided by NRC can be implemented in principle in a DOE owned reactor. The DOE requirements for government owned facilities and the NRC requirements for commercially owned facilities are compared to components of the FFTF Training program. These components will be described, actual status provided and evaluated as to meeting requirements. Cold Plant Qualification (equivalent to NRC Col Plant Licensing) is the next major milestone for FFTF Operator training. Additional requirements or constraints such as operator time utilization, recruiting and turnover, plant availbility and startup testing greatly affect the ability to meet this milestone. These constraints and requirements and the resulting compromises will be evaluated relative to meeting DOE requirements

Search for Flavoured Multiquarks in a Simple Bag Model

We use a bag model to study flavoured mesonic $(Qq\bar q\bar q)$ and baryonic $({\overline Q}qqqq)$ states, where one heavy quark $Q$ is associated with light quarks or antiquarks, and search for possible stable multiquarks. No bound state is found. However some states lie not too high above their dissociation threshold, suggesting the possibility of resonances, or perhaps bound states in improved models.Comment: REVTEX, VERSION 3.

Attitudes towards risk-reducing early salpingectomy with delayed oophorectomy for ovarian cancer prevention:a cohort study

Objective: To determine risk-reducing early salpingectomy and delayed oophorectomy (RRESDO) acceptability and effect of surgical prevention on menopausal sequelae/satisfaction/regret in women at increased ovarian cancer (OC) risk. Design: Multicentre, cohort, questionnaire study (IRSCTN:12310993). Setting: United Kingdom (UK). Population: UK women without OC ≥18 years, at increased OC risk, with/without previous RRSO, ascertained through specialist familial cancer/genetic clinics and BRCA support groups. Methods: Participants completed a 39-item questionnaire. Baseline characteristics were described using descriptive statistics. Logistic/linear regression models analysed the impact of variables on RRESDO acceptability and health outcomes. Main outcomes: RRESDO acceptability, menopausal sequelae, satisfaction/regret. Results: In all, 346 of 683 participants underwent risk-reducing salpingo-oophorectomy (RRSO). Of premenopausal women who had not undergone RRSO, 69.1% (181/262) found it acceptable to participate in a research study offering RRESDO. Premenopausal women concerned about sexual dysfunction were more likely to find RRESDO acceptable (odds ratio [OR] = 2.9, 95% CI 1.2–7.7, P = 0.025). Women experiencing sexual dysfunction after premenopausal RRSO were more likely to find RRESDO acceptable in retrospect (OR = 5.3, 95% CI 1.2–27.5, P < 0.031). In all, 88.8% (143/161) premenopausal and 95.2% (80/84) postmenopausal women who underwent RRSO, respectively, were satisfied with their decision, whereas 9.4% (15/160) premenopausal and 1.2% (1/81) postmenopausal women who underwent RRSO regretted their decision. HRT uptake in premenopausal individuals without breast cancer (BC) was 74.1% (80/108). HRT use did not significantly affect satisfaction/regret levels but did reduce symptoms of vaginal dryness (OR = 0.4, 95% CI 0.2–0.9, P = 0.025). Conclusion: Data show high RRESDO acceptability, particularly in women concerned about sexual dysfunction. Although RRSO satisfaction remains high, regret rates are much higher for premenopausal women than for postmenopausal women. HRT use following premenopausal RRSO does not increase satisfaction but does reduce vaginal dryness. Tweetable abstract: RRESDO has high acceptability among premenopausal women at increased ovarian cancer risk, particularly those concerned about sexual dysfunction.Peer reviewe

PREDICTING THE MASSES OF BARYONS CONTAINING ONE OR TWO HEAVY QUARKS

The Feynman-Hellmann theorem and semiempirical mass formulas are used to predict the masses of baryons containing one or two heavy quarks. In particular, the mass of the $\Lambda_b$ is predicted to be $5620 \pm 40$ MeV, a value consistent with measurements.Comment: 11 pages, Plain TeX, 2 figures (not included, available on request from [email protected]

Prostate Cancer Risk by BRCA2 Genomic Regions.

A BRCA2 prostate cancer cluster region (PCCR) was recently proposed (c.7914 to 3') wherein pathogenic variants (PVs) are associated with higher prostate cancer (PCa) risk than PVs elsewhere in the BRCA2 gene. Using a prospective cohort study of 447 male BRCA2 PV carriers recruited in the UK and Ireland from 1998 to 2016, we estimated standardised incidence ratios (SIRs) compared with population incidences and assessed variation in risk by PV location. Carriers of PVs in the PCCR had a PCa SIR of 8.33 (95% confidence interval [CI] 4.46-15.6) and were at a higher risk of PCa than carriers of other BRCA2 PVs (SIR = 3.31, 95% CI 1.97-5.57; hazard ratio = 2.34, 95% CI 1.09-5.03). PCCR PV carriers had an estimated cumulative PCa risk of 44% (95% CI 23-72%) by the age of 75 yr and 78% (95% CI 54-94%) by the age of 85 yr. Our results corroborate the existence of a PCCR in BRCA2 in a prospective cohort. PATIENT SUMMARY: In this report, we investigated whether the risk of prostate cancer for men with a harmful mutation in the BRCA2 gene differs based on where in the gene the mutation is located. We found that men with mutations in one region of BRCA2 had a higher risk of prostate cancer than men with mutations elsewhere in the gene