Health Aware Stochastic Planning For Persistent Package Delivery Missions Using Quadrotors

In persistent missions, taking system’s health and capability degradation into account is an essential factor to predict and avoid failures. The state space in health-aware planning problems is often a mixture of continuous vehicle-level and discrete mission-level states. This in particular poses a challenge when the mission domain is partially observable and restricts the use of computationally expensive forward search methods. This paper presents a method that exploits a structure that exists in many health-aware planning problems and performs a two-layer planning scheme. The lower layer exploits the local linearization and Gaussian distribution assumption over vehicle-level states while the higher layer maintains a non-Gaussian distribution over discrete mission-level variables. This two-layer planning scheme allows us to limit the expensive online forward search to the mission-level states, and thus predict system’s behavior over longer horizons in the future. We demonstrate the performance of the method on a long duration package delivery mission using a quadrotor in a partially-observable domain in the presence of constraints and health/capability degradation

Loss of MeCP2 in Parvalbumin-and Somatostatin-Expressing Neurons in Mice Leads to Distinct Rett Syndrome-like Phenotypes

SummaryInhibitory neurons are critical for proper brain function, and their dysfunction is implicated in several disorders, including autism, schizophrenia, and Rett syndrome. These neurons are heterogeneous, and it is unclear which subtypes contribute to specific neurological phenotypes. We deleted Mecp2, the mouse homolog of the gene that causes Rett syndrome, from the two most populous subtypes, parvalbumin-positive (PV+) and somatostatin-positive (SOM+) neurons. Loss of MeCP2 partially impairs the affected neuron, allowing us to assess the function of each subtype without profound disruption of neuronal circuitry. We found that mice lacking MeCP2 in either PV+ or SOM+ neurons have distinct, non-overlapping neurological features: mice lacking MeCP2 in PV+ neurons developed motor, sensory, memory, and social deficits, whereas those lacking MeCP2 in SOM+ neurons exhibited seizures and stereotypies. Our findings indicate that PV+ and SOM+ neurons contribute complementary aspects of the Rett phenotype and may have modular roles in regulating specific behaviors

Covalently Functionalized Sawdust for the Remediation of Phosphate from Agricultural Wastewater

Phosphate remediation from wastewater is rapidly becoming an ever more attractive process due to a combination of both the economic pressure of increasing phosphate scarcity and the environmental damage caused by untreated agricultural runoff. Ideally, remediated phosphate will be recoverable and would be able to be reused as fertilizer. Many different resins have been investigated, but due to the scale of the challenge, any feasible solution will involve the use of very inexpensive waste products as the solid support. Sawdust, functionalized with iron-binding ligands, is such a potential resin. Sawdust alone binds 0.3 g/kg of phosphate which is insufficient. Iron has a strong affinity for phosphate, making the formation of iron-phosphate bonds a promising avenue for the development of recyclable resins. Previously prepared iron-chitosan complexes bound 8.2 g/kg. However, as the price of chitosan has rapidly increased, alternatives are required. In this current study, the covalent modification of the sawdust using either carboxymethylcellulose-supported ligands, or direct functionalization of the sawdust can increase this to 40 g/kg using ethylene diamine as the iron-binding ligand. Binding decreases over repeated cycles of phosphate exposure and elution, but can be fully restored through regeneration using iron salts. The simple green synthesis of this material, and the iron-binding capability of the investigated ligands is discussed. These sawdust-based resins show promise as potential candidates for industrial-scale phosphate recovery efforts in the future

MAR-CPS: Measurable Augmented Reality for Prototyping Cyber-Physical Systems

Cyber-Physical Systems (CPSs) refer to engineering platforms that rely on the inte- gration of physical systems with control, computation, and communication technologies. Autonomous vehicles are instances of CPSs that are rapidly growing with applications in many domains. Due to the integration of physical systems with computational sens- ing, planning, and learning in CPSs, hardware-in-the-loop experiments are an essential step for transitioning from simulations to real-world experiments. This paper proposes an architecture for rapid prototyping of CPSs that has been developed in the Aerospace Controls Laboratory at the Massachusetts Institute of Technology. This system, referred to as MAR-CPS (Measurable Augmented Reality for Prototyping Cyber-Physical Systems), includes physical vehicles and sensors, a motion capture technology, a projection system, and a communication network. The role of the projection system is to augment a physical laboratory space with 1) autonomous vehicles' beliefs and 2) a simulated mission environ- ment, which in turn will be measured by physical sensors on the vehicles. The main focus of this method is on rapid design of planning, perception, and learning algorithms for au- tonomous single-agent or multi-agent systems. Moreover, the proposed architecture allows researchers to project a simulated counterpart of outdoor environments in a controlled, indoor space, which can be crucial when testing in outdoor environments is disfavored due to safety, regulatory, or monetary concerns. We discuss the issues related to the design and implementation of MAR-CPS and demonstrate its real-time behavior in a variety of problems in autonomy, such as motion planning, multi-robot coordination, and learning spatio-temporal fields.Boeing Compan

Outbreak of Neisseria meningitidis capsular group W among scouts returning from the World Scout Jamboree, Japan, 2015

The 23rd World Scout Jamboree was held in Japan from 28 July to 8 August 2015 and was attended by over 33,000 scouts from 162 countries. An outbreak of invasive meningococcal disease capsular group W was investigated among participants, with four confirmed cases identified in Scotland, who were all associated with one particular scout unit, and two confirmed cases in Sweden; molecular testing showed the same strain to be responsible for illness in both countries. The report describes the public health action taken to prevent further cases and the different decisions reached with respect to how wide to extend the offer of chemoprophylaxis in the two countries; in Scotland, chemoprophylaxis was offered to the unit of 40 participants to which the four cases belonged and to other close contacts of cases, while in Sweden chemoprophylaxis was offered to all those returning from the Jamboree. The report also describes the international collaboration and communication required to investigate and manage such multinational outbreaks in a timely manner

Data integration in eHealth: a domain/disease specific roadmap

The paper documents a series of data integration workshops held in 2006 at the UK National e-Science Centre, summarizing a range of the problem/solution scenarios in multi-site and multi-scale data integration with six HealthGrid projects using schizophrenia as a domain-specific test case. It outlines emerging strategies, recommendations and objectives for collaboration on shared ontology-building and harmonization of data for multi-site trials in this domain

Writing in Britain and Ireland, c. 400 to c. 800

No abstract available

Ethnicity and incidence of Hodgkin lymphoma in Canadian population

<p>Abstract</p> <p>Background</p> <p>Research has shown that ethnicity is a significant predictor of Hodgkin lymphoma (HL). Variations in cancer incidence among ethnic groups in the same country can lead to important information in the search for etiological factors. Other risk factors important in the etiology of HL are medical history and exposure to pesticides. In this report we investigated the association between ethnicity and HL in the presence of medical history, and exposure to pesticides.</p> <p>Methods</p> <p>The data resulting from a matched population-based case-control study conducted in six provinces of Canada (Ontario, Quebec, Manitoba, Saskatchewan, Alberta, and British Columbia) was analyzed to determine whether or not there was any association between ethnicity and incidence of HL when adjusted for personal medical history and pesticide exposure. Information on ethnicity, personal medical history, and pesticide exposure was collected by questionnaires via mail on 316 men diagnosed with HL; and on 1506 controls. A conditional logistic regression was utilized and results were presented as odds ratios and 95% confidence intervals.</p> <p>Results</p> <p>In our study population, the distribution of ethnic groups was: 38.5% North American, 15% British, 8.4% Western European, 8.2% Eastern European, 1.7% Asian, 1.4% Scandinavian and 27% of other ethnic origin. Compared to North Americans (i) the risk of HL was greater among the Eastern European descendents (Odds Ratio (OR_adj): 1.82; 95% confidence interval (CI): 1.02, 3.25) and Western European (OR_adj: 1.62; 95% CI: 0.95–2.76) descent population (borderline significance at 5% level); and (ii) the risk of HL was lower in Asian descents. Diagnosis with measles (OR_adj: 0.72, 95% C.I.: 0.53–0.98) and/or positive history of allergy desensitization shots (OR_adj: 0.55, 95% C.I.: 0.30–0.99) were negatively associated with the incidence of HL, while diagnosis with acne (OR_adj: 2.12, 95% C.I.: 1.19–3.78), shingles (OR_adj: 2.41, 95% C.I.: 1.38–4.22) and positive family history of cancer (OR_adj: 1.93, 95% C.I.: 1.40–2.65) increased the risk of HL. Exposure to individual herbicide dichlorprop showed an increased risk of HL (OR_adj: 6.35, 95% C.I.: 1.56–25.92).</p> <p>Conclusion</p> <p>In Canada, compared to North Americans descendents, the risk of HL was significantly greater among the Eastern European and Western European descent population. Our results related to association between ethnicity and HL support the findings reported by other researchers. Our data showed that subjects who were diagnosed with measles or had allergy desensitization shots negatively associated with the incidence of HL; and other medical conditions, ever diagnosed with acne, and positive family history of cancer were positively associated with the incidence of HL.</p