Simultaneous Search and Monitoring by Unmanned Aerial Vehicles

Simultaneous Search and Monitoring (SSM) is studied in this paper for a single Unmanned Aerial Vehicle (UAV) searcher and multiple moving ground targets. Searching for unknown targets and monitoring known targets are two intrinsically related problems, but have mostly been addressed in isolation. We combine the two problems with a joint objective function in a Partially Observable Markov Decision Process (POMDP). An online policy planning approach is proposed to plan a reactive policy to solve the POMDP, using both MonteCarlo sampling and Simulated Annealing. The simulation result shows that the searcher will successfully find unknown targets without losing known ones. We demonstrate, with a theoretical proof and comparative simulations, that the proposed approach can deliver a better performance than conventional foresight optimization methods

Mittelfristige Ergebnisse der Vastus-medialis-obliquus-Plastik bei lateraler Patellaluxation

Zusammenfassung: In Langzeitergebnissen nach traditionellen Operationsverfahren distalen Realignements für Patellaluxationen wie z.B. der Tuberositasosteotomie wird eine hohe Rate an Femoropatellararthrosen gefunden, sodass ein operatives Vorgehen noch heute kontrovers diskutiert wird. In der Literatur scheinen die Verfahren mit dynamischem proximalem Realignement eine geringere Arthroserate, aber bisweilen höhere Reluxationsrate aufzuweisen. Unlängst wurde der M.vastus medialis obliquus (VMO) in anatomischen und biomechanischen Studien als eine der entscheidenden proximalen stabilisierenden Strukturen bei lateralen Patellaluxationen identifiziert. Zwischen 1994 und 2003 wurden 28Patienten (Durchschnittsalter 21,5Jahre) mit einer VMO-Plastik bei lateraler Patellaluxation operativ versorgt. Die Technik wurde für die meisten Ätiologien einer femoropatellären Instabilität angewandt. Bei dieser proximalen Weichteilkorrektur wird die sehnige Einstrahlung des VMO von der Patella abgelöst. Anschließend wird die Sehne 10-15mm distalisierend an der Patella über MITEK-Anker reinseriert. Postoperativ ist eine Vollbelastung in Streckung möglich. Ein aktives Auftrainieren des Vastus medialis beginnt 6Wochen nach der Operation. 27Patienten wurden klinisch und radiologisch im Jahre 2004 nachkontrolliert, durchschnittlich 5Jahre nach der Operation. 83% gaben ein exzellentes oder gutes Resultat an, 10% waren zufrieden und 7% unzufrieden. Der durchschnittliche Lysholm-Knie-Score betrug 83,1Punkte. Zwei Patienten erlitten eine Reluxation (7%). Die postoperativen Röntgenbilder zeigten eine signifikante Verbesserung des Kongruenzwinkels auch noch nach vielen Jahren. In 89% der Fälle wurde keine oder eine nur geringe Femoropatellararthrose beobachtet. Die präsentierten Fünfjahresergebnisse sind bezüglich Patientenzufriedenheit mit anderen Verfahren proximalen und distalen Realignements vergleichbar. Die Reluxationsrate ist unterdurchschnittlich. Die bisherige niedrige Rate an Femoropatellararthrose nach durchschnittlich 5Jahren erscheint im Vergleich mit den Arthroseraten des rigiden, distalen Realignements hinsichtlich zukünftiger Langzeitergebnisse vielversprechend und wird auf den minimalen Eingriff in das physiologische Gelenkspiel und auf die Wiederherstellung der verletzten Anatomie zurückgeführt. Die Idee der proximalen dynamischen Stabilisierung und das Angreifen am Ursprung der Pathologie wird in den Erkenntnissen aktueller anatomischer und biomechanischer Untersuchungen bestätigt, was diese relativ guten Ergebnisse erklären mag. Über- und Unterkorrekturen der Weichteile können zurzeit kompensiert werden. Die oben genannten traditionellen und rigideren Operationsmethoden erlauben eine solche Kompensation nicht in diesem Ausmaß und können so zu präarthrotischer Überbelastung des medialen Femoropatellar- und Femorotibialgelenks führe

Facile Production of the Pseudomonas aeruginosa Virulence Factor LasB in Escherichia coli for Structure-Based Drug Design

The human pathogen Pseudomonas aeruginosa has a number of virulence factors at its disposal that play crucial roles in the progression of infection. LasB is one of the major virulence factors and exerts its effects through elastolytic and proteolytic activities aimed at dissolving connective tissue and inactivating host defense proteins. LasB is of great interest for the development of novel pathoblockers to temper the virulence, but access has thus far largely been limited to protein isolated from Pseudomonas cultures. Here, we describe a new protocol for high-level production of native LasB in Escherichia coli. We demonstrate that this facile approach is suitable for the production of mutant, thus far inaccessible LasB variants, and characterize the proteins biochemically and structurally. We expect that easy access to LasB will accelerate the development of inhibitors for this important virulence factor

The fourth monitoring report of the Early vs. Late Infantile Strabismus Surgery Study

The Early vs. Late Infantile Strabismus Surgery Study Group is a group of strabismologists and orthoptists from 58 clinics in 11 European countries. They investigate whether early or late surgery is preferable in infantile strabismus, in a non-randomized, prospective, multi-center trial. Infants between 6 and 18 months of age receive a standardized entry examination and are then operated either before their second anniversary in clinics A, or between their 32nd and 60th month of age in clinics B. The children are evaluated at age six. After completion of the study, the two groups can then be compared regarding degree of binocular vision, angle of strabismus and visual acuity of the worse eye relative to the better. The current status of the study is reported here. Up to December 13, 1996, 58 clinics have entered a total of 532 patients. Currently, 232 children have been entered in the early surgery group and 300 in the late surgery group. Completeness of data and forms are excellent. Thirty-eight patients have definitively dropped out. There is no evidence for inhomogeneities between the two therapy groups concerning the distribution of the four most important prognostic factors: spherical equivalents, horizontal angle of squint, degree of amblyopia and limitation of abduction

Intraoperative length and tension curves of human eye muscles. Including stiffness in passive horizontal eye movement in awake volunteers

Intraoperative continuous-registration length and tension curves of attached and detached eye muscles were made in 18 strabismic patients under general anesthesia. For relaxed eye muscles, we found an exponential relation between length and tension. An increased stiffness was quantified in Duane's syndrome, Graves' disease, orbital-floor fracture, and superior oblique palsy. The stiffnesses of agonist and antagonist were remarkably similar, not only in uncomplicated squint, but also when only one of the two had initially become stiffer. After intravenous administration of succinylcholine chloride, the eye muscles contracted, and the exponential length and tension curve changed into a set of straight, parallel lines. In addition, we measured stiffness in passive horizontal eye movement in awake volunteers and found 0.52 to 1.26 g/degrees (other eye in 5° of adduction), confirming other published results

Length-tension curves of human eye muscles during succinylcholine-induced contraction

We have made intraoperative, continuous-registration, length-tension diagrams of detached eye muscles in 80 strabismus patients under general anaesthesia. In 47 of these we repeated the measurements after contraction evoked by succinylcholine chloride. In contracting horizontal and vertical rectus muscles, we found a linear relation between length and tension. In contracting oblique muscles, however, the relation between length and tension was frequently nonlinear. In superior oblique palsies, the superior oblique was found to be stiff after elongation and before injection of succinylcholine, and it did not contract after injection of succinylcholine. The ipsilateral inferior oblique did contract after injection of succinylcholine, but with a higher spring constant than usual (ie, contracture of the ipsilateral antagonist). In three cases the superior oblique contracted vividly after administration of succinylcholine despite the presence of excyclotropia, stereopsis, torticollis (two cases) and a hypertropia that increased in adduction, in down-gaze, in adduction and down-gaze and on ipsilateral head-tilt. In a case of general fibrosis syndrom we found almost normally contracting vertical recti, which is compatible only with a supranuclear or misdirectional cause. These cases demonstrate the usefulness of the assessment of the length-tension diagram of an eye muscle during surgery, before and during contraction evoked by succinylcholine chloride

The structural history and mineralization controls of the world-class Geita Hill gold deposit, Geita Greenstone Belt, Tanzania

The Geita Hill gold deposit is located in the Archean Geita Greenstone Belt and is one of the largest gold deposits in East Africa. The Geita Greenstone Belt experienced a complex deformation and intrusive history that is well illustrated and preserved in and around the Geita Hill gold deposit. Deformation involved early stages of ductile shearing and folding (D1 to D5), during which episodic emplacement of large diorite intrusive complexes, sills, and dykes occurred. These ductile deformation phases were followed by the development of brittle-ductile shear zones and faults (D6 to D8). The last stages of deformation were accompanied by voluminous felsic magmatism involving the intrusion of felsic porphyry dykes, within the greenstone belt, and the emplacement of large granitic bodies now forming the margins of the greenstone belt. Early, folded lamprophyre dykes, and later lamprophyre dykes, crosscutting the folded sequence are common, although volumetrically insignificant. The gold deposit formed late during the tectonic history of the greenstone belt, post-dating ductile deformation and synchronous with the development of brittle-ductile shear zones that overprinted earlier structural elements. The main mineralizing process involved sulfide replacement of magnetite-rich layers in ironstone and locally the replacement of ferromagnesian phases and magnetite in the diorite intrusions. The intersection between the brittle-ductile (D6) Geita Hill Shear Zone and different structural elements of ductile origin (e.g., fold hinges), and the contact between banded ironstone and folded diorite dykes and sills provided the optimal sites for gold mineralization

Scalable target detection for large robot teams

In this paper, we present an asynchronous display method, coined image queue, which allows operators to search through a large amount of data gathered by autonomous robot teams. We discuss and investigate the advantages of an asynchronous display for foraging tasks with emphasis on Urban Search and Rescue. The image queue approach mines video data to present the operator with a relevant and comprehensive view of the environment in order to identify targets of interest such as injured victims. It fills the gap for comprehensive and scalable displays to obtain a network-centric perspective for UGVs. We compared the image queue to a traditional synchronous display with live video feeds and found that the image queue reduces errors and operator's workload. Furthermore, it disentangles target detection from concurrent system operations and enables a call center approach to target detection. With such an approach we can scale up to very large multi-robot systems gathering huge amounts of data that is then distributed to multiple operators. Copyright 2011 ACM

Diabetes is a Risk Factor for Pulmonary Tuberculosis: A Case-Control Study from Mwanza, Tanzania.

Diabetes and TB are associated, and diabetes is increasingly common in low-income countries where tuberculosis (TB) is highly endemic. However, the role of diabetes for TB has not been assessed in populations where HIV is prevalent. A case-control study was conducted in an urban population in Tanzania among culture-confirmed pulmonary TB patients and non-TB neighbourhood controls. Participants were tested for diabetes according to WHO guidelines and serum concentrations of acute phase reactants were measured. The association between diabetes and TB, and the role of HIV as an effect modifier, were examined using logistic regression. Since blood glucose levels increase during the acute phase response, we adjusted for elevated serum acute phase reactants. Among 803 cases and 350 controls the mean (SD) age was 34.8 (11.9) and 33.8 (12.0) years, and the prevalence of diabetes was 16.7% (95% CI: 14.2; 19.4) and 9.4% (6.6; 13.0), respectively. Diabetes was associated with TB (OR 2.2, 95% CI: 1.5; 3.4, p<0.001). However, the association depended on HIV status (interaction, p = 0.01) due to a stronger association among HIV uninfected (OR 4.2, 95% CI: 1.5; 11.6, p = 0.01) compared to HIV infected (OR 0.1, 95% CI: 0.01; 1.8, p = 0.13) after adjusting for age, sex, demographic factors and elevated serum acute phase reactants. Diabetes is a risk factor for TB in HIV uninfected, whereas the association in HIV infected patients needs further study. The increasing diabetes prevalence may be a threat to TB control

Uliginosin B, a natural phloroglucinol derivative with antidepressant-like activity, increases Na+,K+-ATPase activity in mice cerebral cortex

AbstractUliginosin B, a phloroglucinol isolated from Hypericum polyanthemum Klotzsch ex Reichardt, Hypericaceae, has antidepressant-like effect in the forced swimming test in rodents and inhibits monoamines neuronal reuptake without binding to their neuronal carriers. Studies showed the involvement of Na+,K+-ATPase brain activity in depressive disorders, as well as the dependence of neuronal monoamine transport from Na+ gradient generated by Na+,K+-ATPase. This study aimed at evaluating the effect of uliginosin B on Na+,K+-ATPase activity in mice cerebral cortex and hippocampus (1 and 3h after the last administration) as well as the influence of veratrine, a Na+ channel opener, on the antidepressant-like effect of uliginosin B. Mice were treated (p.o.) with uliginosin B single (10mg/kg) or repeated doses (10mg/kg/day, 3 days). Acute administration reduced the immobility in the forced swimming test and tail suspension test and increased Na+,K+-ATPase activity in cerebral cortex 1h after treating, whereas the repeated treatment induced the antidepressant-like effect and increased the Na+,K+-ATPase activity at both times evaluated. None treatment affected the hippocampus enzyme activity. Veratrine pretreatment prevented uliginosin B antidepressant-like effect in the forced swimming test, suggesting the involvement of Na+ balance regulation on this effect. Altogether, these data indicate that uliginosin B reduces the monoamine uptake by altering Na+ gradient