Families of exact solutions of a 2D gravity model minimally coupled to electrodynamics

Three families of exact solutions for 2-dimensional gravity minimally coupled to electrodynamics are obtained in the context of ${\cal R}=T$ theory. It is shown, by supersymmetric formalism of quantum mechanics, that the quantum dynamics of a neutral bosonic particle on static backgrounds with both varying curvature and electric field is exactly solvable.Comment: 13 pages, LaTeX, to be published in JM

Goal accomplishment tracking for automatic supervision of plan execution

It is common practice to break down plans into a series of goals or sub-goals in order to facilitate plan execution, thereby only burdening the individual agents responsible for their execution with small, easily achievable objectives at any one time, or providing a simple way of sharing these objectives amongst a group of these agents. Ensuring that plans are executed correctly is an essential part of any team management. To allow proper tracking of an agent's progress through a pre-planned set of goals, it is imperative to keep track of which of these goals have already been accomplished. This centralised approach is essential when the agent is part of a team of humans and/or robots, and goal accomplishment is not always being tracked at a low level. This paper presents a framework for an automated supervision system to keep track of changes in world states so as to chart progress through a pre-planned set of goals. An implementation of this framework on a mobile service robot is presented, and applied in an experiment which demonstrates its feasibility

Assigned responsibility for remote robot operation

The remote control of robots, known as teleoperation, is a non-trivial task, requiring the operator to make decisions based on the information relayed by the robot about its own status as well as its surroundings. This places the operator under significant cognitive load. A solution to this involves sharing this load between the human operator and automated operators. This paper builds on the idea of adjustable autonomy, proposing Assigned Responsibility, a way of clearly delimiting control responsibility over one or more robots between human and automated operators. An architecture for implementing Assigned Responsibility is presented

Adaptive planning for distributed systems using goal accomplishment tracking

Goal accomplishment tracking is the process of monitoring the progress of a task or series of tasks towards completing a goal. Goal accomplishment tracking is used to monitor goal progress in a variety of domains, including workflow processing, teleoperation and industrial manufacturing. Practically, it involves the constant monitoring of task execution, analysis of this data to determine the task progress and notification of interested parties. This information is usually used in a passive way to observe goal progress. However, responding to this information may prevent goal failures. In addition, responding proactively in an opportunistic way can also lead to goals being completed faster. This paper proposes an architecture to support the adaptive planning of tasks for fault tolerance or opportunistic task execution based on goal accomplishment tracking. It argues that dramatically increased performance can be gained by monitoring task execution and altering plans dynamically

Prototype Detector for Ultrahigh Energy Neutrino Detection

Necessary technical experience is being gained from successful construction and deployment of current prototype detectors to search for UHE neutrinos in Antarctica, Lake Baikal in Russia, and the Mediterranean. The prototype detectors have also the important central purpose of determining whether or not UHE neutrinos do in fact exist in nature by observation of at least a few UHE neutrino-induced leptons with properties that are not consistent with expected backgrounds. We discuss here the criteria for a prototype detector to accomplish that purpose in a convincing way even if the UHE neutrino flux is substantially lower than predicted at present.Comment: 18 pages, 8 figures, submitted to Astroparticle Physic

Outcome of secondary root canal treatment: a systematic review of the literature.

UNLABELLED: AIMS (I): To investigate the effects of study characteristics on the reported success rates of secondary root canal treatment (2 degrees RCT or root canal retreatment); and (ii) to investigate the effects of clinical factors on the success of 2 degrees RCT. METHODOLOGY: Longitudinal human clinical studies investigating outcome of 2 degrees RCT which were published upto the end of 2006 were identified electronically (MEDLINE and Cochrane database 1966-2006 Dec, week 4). Four journals (Dental Traumatology, International Endodontic Journal, Journal of Endodontics, Oral Surgery Oral Medicine Oral Pathology Endodontics Radiology), bibliographies of all relevant papers and review articles were hand-searched. Two reviewers (Y-LN, KG) independently assessed and selected the studies based on specified inclusion criteria and extracted the data onto a pre-designed proforma, independently. The criteria were: (i) Clinical studies on 2 degrees RCT; (ii) Stratified analyses available for 2 degrees RCT where 1 degrees RCT data included; (iii) Sample size given and larger than 10; (iv) At least 6-month post-operative review; (v) Success based on clinical and/or radiographic criteria (strict = absence of apical radiolucency; loose = reduction in size of radiolucency); and (vi) Overall success rate given or could be calculated from the raw data. Three strands of evidence or analyses were used to triangulate a consensus view. The reported findings from individual studies, including those excluded for quantitative analysis, were utilized for the intuitive synthesis which constituted the first strand of evidence. Secondly, the pooled weighted success rates by each study characteristic and potential prognostic factor were estimated using the random effect model. Thirdly, the effects of study characteristics and prognostic factors (expressed as odds ratios) on success rates were estimated using fixed and random effects meta-analysis with DerSimonean and Laird's methods. Meta-regression models were used to explore potential sources of statistical heterogeneity. Study characteristics considered in the meta-regression analyses were: decade of publication, study-specific criteria for success (radiographic, combined radiographic & clinical), unit of outcome measure (tooth, root), duration after treatment when assessing success ('at least 4 years' or '<4 years'), geographic location of the study (North American, Scandinavian, other countries), and qualification of the operator (undergraduate students, postgraduate students, general dental practitioners, specialist or mixed group). RESULTS: Of the 40 papers identified, 17 studies published between 1961 and 2005 were included; none were published in 2006. The majority of studies were retrospective (n = 12) and only five prospective. The pooled weighted success rate of 2 degrees RCT judged by complete healing was 76.7% (95% CI 73.6%, 89.6%) and by incomplete healing, 77.2% (95% CI 61.1%, 88.1%). The success rates by 'decade of publication' and 'geographic location of study' were not significantly different at the 5% level. Eighteen clinical factors had been investigated in various combinations in previous studies. The most frequently and thoroughly investigated were 'periapical status' (n = 13), 'size of lesion' (n = 7), and 'apical extent of RF' (n = 5) which were found to be significant prognostic factors. The effect of different aspects of primary treatment history and re-treatment procedures has been poorly tested. CONCLUSIONS: The pooled estimated success rate of secondary root canal treatment was 77%. The presence of pre-operative periapical lesion, apical extent of root filling and quality of coronal restoration proved significant prognostic factors with concurrence between all three strands of evidence whilst the effects of 1 degrees RCT history and 2 degrees RCT protocol have been poorly investigated

A prospective study of the factors affecting outcomes of nonsurgical root canal treatment: part 1: periapical health.

AIM: To investigate the probability of and factors influencing periapical status of teeth following primary (1°RCTx) or secondary (2°RCTx) root canal treatment. METHODOLOGY: This prospective study involved annual clinical and radiographic follow-up of 1°RCTx (1170 roots, 702 teeth and 534 patients) or 2°RCTx (1314 roots, 750 teeth and 559 patients) carried out by Endodontic postgraduate students for 2-4 (50%) years. Pre-, intra- and postoperative data were collected prospectively on customized forms. The proportion of roots with complete periapical healing was estimated, and prognostic factors were investigated using multiple logistic regression models. Clustering effects within patients were adjusted in all models using robust standard error. RESULTS: proportion of roots with complete periapical healing after 1°RCTx (83%; 95% CI: 81%, 85%) or 2°RCTx (80%; 95% CI: 78%, 82%) were similar. Eleven prognostic factors were identified. The conditions that were found to improve periapical healing significantly were: the preoperative absence of a periapical lesion (P = 0.003); in presence of a periapical lesion, the smaller its size (P ≤ 0.001), the better the treatment prognosis; the absence of a preoperative sinus tract (P = 0.001); achievement of patency at the canal terminus (P = 0.001); extension of canal cleaning as close as possible to its apical terminus (P = 0.001); the use of ethylene-diamine-tetra-acetic acid (EDTA) solution as a penultimate wash followed by final rinse with NaOCl solution in 2°RCTx cases (P = 0.002); abstaining from using 2% chlorexidine as an adjunct irrigant to NaOCl solution (P = 0.01); absence of tooth/root perforation (P = 0.06); absence of interappointment flare-up (pain or swelling) (P =0.002); absence of root-filling extrusion (P ≤ 0.001); and presence of a satisfactory coronal restoration (P ≤ 0.001). CONCLUSIONS: Success based on periapical health associated with roots following 1°RCTx (83%) or 2°RCTx (80%) was similar, with 10 factors having a common effect on both, whilst the 11th factor 'EDTA as an additional irrigant' had different effects on the two treatments