A fault-tolerant intelligent robotic control system

This paper describes the concept, design, and features of a fault-tolerant intelligent robotic control system being developed for space and commercial applications that require high dependability. The comprehensive strategy integrates system level hardware/software fault tolerance with task level handling of uncertainties and unexpected events for robotic control. The underlying architecture for system level fault tolerance is the distributed recovery block which protects against application software, system software, hardware, and network failures. Task level fault tolerance provisions are implemented in a knowledge-based system which utilizes advanced automation techniques such as rule-based and model-based reasoning to monitor, diagnose, and recover from unexpected events. The two level design provides tolerance of two or more faults occurring serially at any level of command, control, sensing, or actuation. The potential benefits of such a fault tolerant robotic control system include: (1) a minimized potential for damage to humans, the work site, and the robot itself; (2) continuous operation with a minimum of uncommanded motion in the presence of failures; and (3) more reliable autonomous operation providing increased efficiency in the execution of robotic tasks and decreased demand on human operators for controlling and monitoring the robotic servicing routines

Mechanistic Leak-Detection Modeling for Single Gas-Phase Pipelines: Lessons Learned from Fit to Field-Scale Experimental Data

The use of pipelines is one of the most popular ways of delivering gas phases as shown by numerous examples in hydrocarbon transportation systems in Arctic regions, oil and gas production facilities in onshore and offshore wells, and municipal gas distribution systems in urban areas. A gas leak from pipelines can cause serious problems not only because of the financial losses associated but also its social and environmental impacts. Therefore, establishing an early leak detection model is vital to safe and secure operations of such pipeline systems.A leak detection model for a single gas phase is presented in this study by using material balance and pressure traverse calculations. The comparison between two steady states, with and without leak, makes it possible to quantify the magnitude of disturbance in two leak detection indicators such as the change in inlet pressure (ΔPin) and the change in outlet flow rate (Δqout) in a broad range of leak locations (xleak) and leak opening sizes (dleak). The results from the fit to large-scale experimental data of Scott and Yi (1998) show that the value of leak coefficient (CD), which is shown to be the single-most important but largely unknown parameter, ranges from 0.55 to 4.11, and should be a function of Reynolds number (NRe) which is related to leak characteristics such as leak location (xleak), leak opening size (dleak), leak rate (qleak) and system pressure. Further investigations show that between the two leak detection indicators, the change in outlet flow rate (Δqout) is superior to the change in inlet pressure (ΔPin) because of larger disturbance, if the pressure drop along the pipeline is relatively small compared to the outlet pressure; otherwise, the change in inlet pressure (ΔPin) is superior to the change in outlet flow rate (Δqout).Key words: Leak; Leak detection modeling; Pipeline; Leak coefficient; Gas flow in pip

Canine liver transplantation under nva cyclosporine versus cyclosporine

The immunosuppressive qualities and other features of a new cyclosporine (CsA) analogue, Nva 2-cyclosporine (Nva 2-CsA) were examined using canine orthotopic liver allografts. The mean survival time was 11.8±9.6 (SD) days in dogs without treatment, 60.8±34.4 days with Nva 2-CsA and 65.1±33.0 days with CsA. Functional abnormalities indicating toxic side effects were not noted either with Nva 2-CsA or with CsA. Using the same oral dose, the rate of blood level rise and the amount of the rise were greater with Nva2-CsA. Histopathologically, Nva2-CsA the treatment was associated with the same degree of hydropic vocuolation in the pars recta of the proximal tubules as CsA treatment. Thus, in the dog, Nva2-CsA had identical immunosuppressive properties as CsA, with no functionally detectable toxicity affecting the liver and kidney. © 1986 by The Williams & Wilkins Co

A Bayesian regression tree approach to identify the effect of nanoparticles' properties on toxicity profiles

We introduce a Bayesian multiple regression tree model to characterize relationships between physico-chemical properties of nanoparticles and their in-vitro toxicity over multiple doses and times of exposure. Unlike conventional models that rely on data summaries, our model solves the low sample size issue and avoids arbitrary loss of information by combining all measurements from a general exposure experiment across doses, times of exposure, and replicates. The proposed technique integrates Bayesian trees for modeling threshold effects and interactions, and penalized B-splines for dose- and time-response surface smoothing. The resulting posterior distribution is sampled by Markov Chain Monte Carlo. This method allows for inference on a number of quantities of potential interest to substantive nanotoxicology, such as the importance of physico-chemical properties and their marginal effect on toxicity. We illustrate the application of our method to the analysis of a library of 24 nano metal oxides.Comment: Published at http://dx.doi.org/10.1214/14-AOAS797 in the Annals of Applied Statistics (http://www.imstat.org/aoas/) by the Institute of Mathematical Statistics (http://www.imstat.org

Low flow venovenous bypasses in small dogs and pediatric patients undergoing replacement of the liver

A venovenous bypass for transplantation of the liver was developed and evaluated in dogs and applied clinically, with flows that averaged less than 500 milliliters per minute. Fatal pulmonary emboli were seen in two of 40 experiments. The venovenous flow in the four pediatric recipients was 200 to 1,200 milliliters per minute, and there were no complications

Different response to epidermal growth factor of hepatocytes in cultures isolated from male or female rat liver. Inhibitor effect of estrogen on binding and mitogenic effect of epidermal growth factor

Deoxyribonucleic acid (DNA) synthesis in hepatocytes isolated from the livers of male and female rats has been compared in monolayer culture. Plating efficiency, DNA and protein content, viability, and morphologic appearance were the same in cultures prepared with hepatocytes isolated from male or female rats. Epidermal growth factor (EGF)-induced DNA synthesis was significantly higher in hepatocytes from male rats than in hepatocytes from female rats. This was the case whether hepatocytes were isolated from normal or partially hepatectomized male or female rats. Hepatocytes isolated from regenerating liver synthesize more DNA than those isolated from normal liver in response to EGF. This increased response to EGF in hepatocytes derived from regenerating liver was relatively the same for male- and female-derived hepatocytes, but the magnitude of the response was considerably higher in male-derived hepatocytes. In contrast, in vivo DNA synthesis in the liver remnant after partial hepatectomy was similar in male and female rats if measured 24 h after the operation. A comparison of EGF binding to male- and female-derived hepatocytes maintained in primary culture indicated a lower number of high-affinity receptors for EGF in the female hepatocytes. The addition of estrogen to primary cultures of hepatocytes isolated from male rats inhibited EGF binding as well as EGF-induced DNA synthesis. Our studies show significant differences in DNA synthesis in response to EGF when male and female hepatocytes are compared in primary culture. The regenerative response after partial hepatectomy, on the other hand, was the same in male and female rats. Thus, our studies indicate that the sex of the donor rat is important when hepatocytes in culture are used for a variety of studies, such as hepatocyte metabolism, induction and control of DNA synthesis, and hepatocarcinogenesis. In addition, our results indicate that caution is advised when inferences are made from in vitro findings for in vivo conditions. © 1987

Accessing sub-national cholera epidemiological data for Nigeria and the Democratic Republic of Congo during the seventh pandemic

Background: Vibrio cholerae is a water-borne pathogen with a global burden estimate at 1.4 to 4.0 million annual cases. Over 94% of these cases are reported in Africa and more research is needed to understand cholera dynamics in the region. Cholera data are lacking, mainly due to reporting issues, creating barriers for widespread research on cholera epidemiology and management in Africa. Main body: Here, we present datasets that were created to help address this gap, collating freely available sub-national cholera data for Nigeria and the Democratic Republic of Congo. The data were collated from a variety of English and French publicly available sources, including the World Health Organization, PubMed, UNICEF, EM-DAT, the Nigerian CDC and peer-reviewed literature. These data include information on cases, deaths, age, gender, oral cholera vaccination, risk factors and interventions. Conclusion: These datasets can facilitate qualitative, quantitative and mixed methods research in these two high burden countries to assist in public health planning. The data can be used in collaboration with organisations in the two countries, which have also collected data or undertaking research. By making the data and methods available, we aim to encourage their use and further data collection and compilation to help improve the data gaps for cholera in Africa

Traits and risk factors of post-disaster infectious disease outbreaks: a systematic review

Infectious disease outbreaks are increasingly recognised as events that exacerbate impacts or prolong recovery following disasters. Yet, our understanding of the frequency, geography, characteristics and risk factors of post-disaster disease outbreaks globally is lacking. This limits the extent to which disease outbreak risks can be prepared for, monitored and responded to following disasters. Here, we conducted a global systematic review of post-disaster outbreaks and found that outbreaks linked to conficts and hydrological events were most frequently reported, and most often caused by bacterial and water-borne agents. Lack of adequate WASH facilities and poor housing were commonly reported risk factors. Displacement, through infrastructure damage, can lead to risk cascades for disease outbreaks; however, displacement can also be an opportunity to remove people from danger and ultimately protect health. The results shed new light on post-disaster disease outbreaks and their risks. Understanding these risk factors and cascades, could help improve future region-specifc disaster risk reduction