Effects of spatial ability on multi-robot control tasks

Working with large teams of robots is a very complex and demanding task for any operator and individual differences in spatial ability could significantly affect that performance. In the present study, we examine data from two earlier experiments to investigate the effects of ability for perspective-taking on performance at an urban search and rescue (USAR) task using a realistic simulation and alternate displays. We evaluated the participants' spatial ability using a standard measure of spatial orientation and examined the divergence of performance in accuracy and speed in locating victims, and perceived workload. Our findings show operators with higher spatial ability experienced less workload and marked victims more precisely. An interaction was found for the experimental image queue display for which participants with low spatial ability improved significantly in their accuracy in marking victims over the traditional streaming video display. Copyright 2011 by Human Factors and Ergonomics Society, Inc. All rights reserved

Teams organization and performance analysis in autonomous human-robot teams

This paper proposes a theory of human control of robot teams based on considering how people coordinate across different task allocations. Our current work focuses on domains such as foraging in which robots perform largely independent tasks. The present study addresses the interaction between automation and organization of human teams in controlling large robot teams performing an Urban Search and Rescue (USAR) task. We identify three subtasks: perceptual search-visual search for victims, assistance-teleoperation to assist robot, and navigation-path planning and coordination. For the studies reported here, navigation was selected for automation because it involves weak dependencies among robots making it more complex and because it was shown in an earlier experiment to be the most difficult. This paper reports an extended analysis of the two conditions from a larger four condition study. In these two "shared pool" conditions Twenty four simulated robots were controlled by teams of 2 participants. Sixty paid participants (30 teams) were recruited to perform the shared pool tasks in which participants shared control of the 24 UGVs and viewed the same screens. Groups in the manual control condition issued waypoints to navigate their robots. In the autonomy condition robots generated their own waypoints using distributed path planning. We identify three self-organizing team strategies in the shared pool condition: joint control operators share full authority over robots, mixed control in which one operator takes primary control while the other acts as an assistant, and split control in which operators divide the robots with each controlling a sub-team. Automating path planning improved system performance. Effects of team organization favored operator teams who shared authority for the pool of robots. © 2010 ACM

Emergency department use among Asian adults living in the United States: Results from the National Health Interview Survey (2006 – 2013)

This paper presents secondary analyses of the National Health Interview Survey data focused on emergency department (ED) utilization among Asian adults residing in the United States. National Health Interview Survey data provided from survey years 2006-2013 was pooled and disaggregated by single-race Asian ethnic subgroups (Filipino, Chinese, Asian Indian, other Asian). We explored trends in reports of an ED visit over the survey years for the purpose of determining whether reports of an ED visit increased or decreased over survey years. We also explored background/biologic, environment, access to care, and behavior factors and their associations with having an ED visit. The majority of respondents were foreign-born (75.9%) and had lived in the United States for ten or more years (54.3%). Estimates for reports of any ED visits ranged from 8.3% for the Chinese to 15.3% for the Filipino subgroups. Filipinos were more likely to have an ED visit compared to the Chinese and other Asians (except Asian Indians). For the eight years of survey data, estimates indicate a trend of fewer reports of any ED visit among the Asian Indian and Filipino subgroups. Among Filipinos, having diabetes and a smoking history were associated with an ED visit. The odds of an ED visit were higher among Asians in the youngest age category, among other Asians born in the United States, and among those who saw/talked to a mental health professional within the previous year. As there is a paucity of information available about ED use among Asians or Asian subgroups, this report adds to the literature on patterns of health care utilization among Asian subgroups living in the United States with a specific focus on ED utilization

Transthoracic three-dimensional echocardiography for the assessment of straddling tricuspid or mitral valves

Background The advent of 3D echocardiography has provided a technique which, potentially, could afford significant additional information over conventional cross-sectional echocardiography in the assessment of patients with straddling atrioventricular valves prior to surgical correction. Methods Eight patients, aged from 1 month to 9˙2 years, were examined with 3D echocardiography. All but three had discordant ventriculoarterial connections or double outlet right ventricle. Data suitable for reconstruction was acquired with transthoracic scanning. Right and left ventricular volumes were calculated in the 3D dataset. Results 3D echocardiography proved capable of defining the exact degree of straddling by imaging theproportion of tension apparatus attached to either side of the ventricular septum. It was able also to display the atrioventricular junction “en face”, thus permitting identification of the precise site of insertion of the muscular ventricular septum relative to the atrioventricular junction. This made it possiblefirst, to calculate the degree of valvar override, and second, to predict the location of the penetrating atrioventricular bundle. End-diastolic volume of the right ventricle in those with straddling tricuspid valves was 73 (61–83)% of normal, and, of the left ventricle in those with mitral valvar straddling 71 (40‐97)% of normal. Conclusions 3D echocardiography can aid in planning the optimal surgical procedure in patients with straddling or overrriding atrioventricular valves, as it provides diagnostic information superiorto standard crosssectional techniques. It also allows for exact measurement of the volumes of the respective ventricles

Depth mapping of integral images through viewpoint image extraction with a hybrid disparity analysis algorithm

Integral imaging is a technique capable of displaying 3–D images with continuous parallax in full natural color. It is one of the most promising methods for producing smooth 3–D images. Extracting depth information from integral image has various applications ranging from remote inspection, robotic vision, medical imaging, virtual reality, to content-based image coding and manipulation for integral imaging based 3–D TV. This paper presents a method of generating a depth map from unidirectional integral images through viewpoint image extraction and using a hybrid disparity analysis algorithm combining multi-baseline, neighbourhood constraint and relaxation strategies. It is shown that a depth map having few areas of uncertainty can be obtained from both computer and photographically generated integral images using this approach. The acceptable depth maps can be achieved from photographic captured integral images containing complicated object scene

Effects of alarms on control of robot teams

Annunciator driven supervisory control (ADSC) is a widely used technique for directing human attention to control systems otherwise beyond their capabilities. ADSC requires associating abnormal parameter values with alarms in such a way that operator attention can be directed toward the involved subsystems or conditions. This is hard to achieve in multirobot control because it is difficult to distinguish abnormal conditions for states of a robot team. For largely independent tasks such as foraging, however, self-reflection can serve as a basis for alerting the operator to abnormalities of individual robots. While the search for targets remains unalarmed the resulting system approximates ADSC. The described experiment compares a control condition in which operators perform a multirobot urban search and rescue (USAR) task without alarms with ADSC (freely annunciated) and with a decision aid that limits operator workload by showing only the top alarm. No differences were found in area searched or victims found, however, operators in the freely annunciated condition were faster in detecting both the annunciated failures and victims entering their cameras' fields of view. Copyright 2011 by Human Factors and Ergonomics Society, Inc. All rights reserved

erectile function after radical prostatectomy

In this study our aim is to increase the understanding of the prostate and related organs anatomy for better continence and erectile function results after urological surgery. Prostate and related organs were dissected from seven cadavers. After dissection, 165 serial sections with 300 mu m thickness were derived at a 100 mu m interval. The histological images were examined and imported to the computer. Three-dimensional (3D) remodeling had been performed. The findings were evaluated into three categories: macroscopic, microscopic and 3D reconstruction. Striated muscle fibers had been detected at the anterior fibromuscular stroma in histological sections. In 3D remodeling, urethra seemed to be a complete functional unit, beginning from the trigone up to the membranous urethra. The neurovascular bundles run under the pelvic fascia on both sides and go through to the bladder neck at 5 and 7 o'clock. Computer remodeling demonstrated that neurovascular structures had a close association with the bladder neck and the seminal vesicle. Computer program made it possible to rotate all 3D-reconstructed figures by 3601 and examine them from all possible angles. All reconstructed structures can be examined together at the same time or one by one. Surgeons must pay special attention to the continence area described as a single unit, beginning from trigone to the membranous urethra, during the surgery. Meticulous dissection of the neurovascular bundles, especially close to the seminal vesicles and bladder neck, during the radical prostatectomy is necessary. These reconstructions can be used for the educational purpose of medical students as well as the urology surgeons

Sequential metastatic breast cancer chemotherapy: Should the median be the message?

Background: Counseling and anticipatory guidance of the expected course of treatment for women newly diagnosed with metastatic breast cancer (MBC) are difficult due to multiple factors influencing survival following MBC therapy. In order to better tailor counseling at the onset and through the duration of MBC we used non-clinical trial data to better characterize real life experience of sequential MBC treatment.We examined the following aims: (1) What demographic and tumor characteristics are predictive of survival in MBC? (2)What is the median duration of each sequential chemotherapy regimen and subsequent survival of women following each sequence of chemotherapy regimen in MBC? Methods: Retrospective study included 792women diagnosed from January 1999 through December 2009 at the University of Pittsburgh Cancer Institute Breast Cancer Program. Results: Median duration of sequential chemotherapy regimen and median survival from completion of sequence of chemotherapy regimens were relatively short with a wide range of treatment duration and survival. Characteristics for poor survival included hormone status, human epidermal growth factor receptor-2 (HER 2/neu) status, and increased number and type of metastatic sites.Women who took more than the second sequential chemotherapy regimens had no more than median 3 months of treatment duration and 6 months survival from treatment termination. Discussion: Median clinical response and survival shorten with sequential chemotherapy regimen but with wide ranges. The rare clinical response of the minority should not set the standard for treatment expectations. All cancer clinicians, including oncology nurses, must ensure that patients are receiving tailored counseling regarding their specific risks and benefits for sequential MBC chemotherapy

PERBANDINGAN TINGKAT KOHESIVITAS ANTARA SISWA RINTISAN SEKOLAH BERSTANDAR INTERNASIONAL (RSBI) DAN SEKOLAH STANDAR NASIONAL (SSN) (Studi Pada Kelas XI SMAN 15 Surabaya Dan Siswa Kelas XI SMAN 11 Surabaya)

Abstract The quality of education is determined by the curriculum. Curriculum as the education program consist of some other important aspects, such as the subject, teaching activity, education program for students, and also the results of that learning activity. In Physical education health sports have an important role and value in the formation of student’s caracters. One of the important value is the cohesiveness of student in a group. The research problem of this study are: 1) how is the cohesiveness level of RSBI Student and SSN Student; 2) is there any comparison between cohesiveness level of RSBI Student and SSN Student in SMAN 15 and SMAN 11 Surabaya. The sample of this research is using cluster sampling which is choosing the area of the population, not the individual so it called as group of area or cluster. The subject was 30 students of XI IPA 8 SMAN 15 Surabaya and 30 students of XI IPA 4 SMAN 11 Surabaya. The method in this analysis using statistical methods, quantitative descriptive, and Independent sample T-Test. And the data was taken using questionnaire of cohesiveness. The research concluded that: 1) the amount of mean value of cohesiveness level of XI IPA 8 SMAN 15 Surabaya is 98,47 which is belong to medium category of the total amount of 30 the students. And the mean value of cohesiveness level of XI IPA 4 SMAN 11 Surabaya is 93,73 which is also belong to medium category of the total amount of 30 students. The result value cohesiveness scale of the standard deviation of XI IPA 8 SMAN 15 Surabaya is 11,135, and the variance value of 123,982. With the lowest score at 63 and the highest grade of 115. And for students of XI IPA 4 SMAN 11 Surabaya has mean value of 93,73, the value of the standard deviation of 13,096, and the variance value of 171,513 with the lowest score at 63 and the highest score of 115. 2) The results of the independent sample t-test obtained: Tcount (-1,498) > Ttable (2,0105). In other words that there is no significant comparison of RSBI Student (XI IPA 8 SMAN 15 Surabaya) and SSN Student (XI IPA 4 SMAN 11 Surabaya). Keywords: Cohesiveness Level, RSBI, SS