Multiscouting: Guiding distributed manipulation with multiple mobile sensors

This thesis investigates the use of multiple mobile sensors to guide the motion of a distributed manipulation system. In our system, multiple robots cooperatively place a large object at a goal in a dynamic, unstructured, unmapped environment. We take the system developed in [Rus, Kabir, Kotay, Soutter 1996], which employs a single mobile sensor for navigational tasks, and extend it to allow the use of multiple mobile sensors. This allows the system to perform successful manipulations in a larger class of spaces than was possible in the single scout model. We focus on the development of a negotiation protocol that enables multiple scouts to cooperatively plan system motion. This algorithm enhances the previous\u27 system\u27s scalability and adds greater fault-tolerance. Two alternate algorithms for cooperation: a modification of negotiation and a bidding protocol, are also discussed. Finally, an implementation of the negotiation protocol is described and experimental data produced by the implementation is analyzed

Placental-mediated increased cytokine response to lipopolysaccharides: a potential mechanism for enhanced inflammation susceptibility of the preterm fetus.

BackgroundCerebral palsy is a nonprogressive motor impairment syndrome that has no effective cure. The etiology of most cases of cerebral palsy remains unknown; however, recent epidemiologic data have demonstrated an association between fetal neurologic injury and infection/inflammation. Maternal infection/inflammation may be associated with the induction of placental cytokines that could result in increased fetal proinflammatory cytokine exposure, and development of neonatal neurologic injury. Therefore, we sought to explore the mechanism by which maternal infection may produce a placental inflammatory response. We specifically examined rat placental cytokine production and activation of the Toll-like receptor 4 (TLR4) pathway in response to lipopolysaccharide exposure at preterm and near-term gestational ages.MethodsPreterm (e16) or near-term (e20) placental explants from pregnant rats were treated with 0, 1, or 10 μg/mL lipopolysaccharide. Explant integrity was assessed by lactate dehydrogenase assay. Interleukin-6 and tumor necrosis alpha levels were determined using enzyme-linked immunosorbent assay kits. TLR4 and phosphorylated nuclear factor kappa light chain enhancer of activated B cells (NFκB) protein expression levels were determined by Western blot analysis.ResultsAt both e16 and e20, lactate dehydrogenase levels were unchanged by treatment with lipopolysaccharide. After exposure to lipopolysaccharide, the release of interleukin-6 and tumor necrosis alpha from e16 placental explants increased by 4-fold and 8-9-fold, respectively (P < 0.05 versus vehicle). Conversely, interleukin-6 release from e20 explants was not significantly different compared with vehicle, and tumor necrosis alpha release was only 2-fold higher (P < 0.05 versus vehicle) following exposure to lipopolysaccharide. Phosphorylated NFκB protein expression was significantly increased in the nuclear fraction from placental explants exposed to lipopolysaccharide at both e16 and e20, although TLR4 protein expression was unaffected.ConclusionLipopolysaccharide induces higher interleukin-6 and tumor necrosis alpha expression at e16 versus e20, suggesting that preterm placentas may have a greater placental cytokine response to lipopolysaccharide infection. Furthermore, increased phosphorylated NFκB indicates that placental cytokine induction may occur by activation of the TLR4 pathway

Learning object boundary detection from motion data

A significant barrier to applying the techniques of machine learning to the domain of object boundary detection is the need to obtain a large database of correctly labeled examples. Inspired by developmental psychology, this paper proposes that boundary detection can be learned from the output of a motion tracking algorithm that separates moving objects from their static surroundings. Motion segmentation solves the database problem by providing cheap, unlimited, labeled training data. A probabilistic model of the textural and shape properties of object boundaries can be trained from this data and then used to efficiently detect boundaries in novel images via loopy belief propagation.Singapore-MIT Alliance (SMA

Identification of weta foraging on brodifacoum bait and the risk of secondary poisoning for birds on Quail Island, Canterbury, New Zealand

Brodifacoum is a second-generation anticoagulant used for rodent control in New Zealand. Concerns about the poisoning of non-target species have resulted in restrictions being imposed on the mainland. It is, however, still commonly employed on offshore islands. Previous research investigating the poisoning risks of brodifacoum has generally focused on birds eating brodifacoum bait (primary poisoning) or through depredation of live rodents or carrion containing brodifacoum residues (secondary poisoning). Other research has highlighted the potential for secondary poisoning of birds via the consumption of contaminated invertebrates. An inspection of rodent bait stations undertaken on Quail Island revealed that both cave and ground weta were feeding on brodifacoum bait. A sample of ground weta (Hemiandrus n. sp.) and cave weta (Pleioplectron simplex) was removed from Quail Island and exposed to toxic bait for 60 days. These weta were then assayed for brodifacoum residues and the values used to quantify the secondary poisoning risk for bird species found around Quail Island. We also calculated the risk to birds of secondary poisoning from the tree weta (Hemideina ricta) and the risk of primary poisoning via direct consumption of brodifacoum bait. The LD50 estimates indicated a low risk of secondary poisoning from contaminated ground weta and cave weta. By contrast, the estimates indicated a higher risk from larger-bodied tree weta; however, our calculations were based on a single residue concentration value and should be treated with caution. Of most concern was the primary poisoning risk from the brodifacoum bait. The results indicated that all the 17 bird species assessed are more susceptible to primary poisoning than secondary poisoning and access to brodifacoum bait by non-target bird species needs to be minimised

Learning object segmentation from video data

This memo describes the initial results of a project to create a self-supervised algorithm for learning object segmentation from video data. Developmental psychology and computational experience have demonstrated that the motion segmentation of objects is a simpler, more primitive process than the detection of object boundaries by static image cues. Therefore, motion information provides a plausible supervision signal for learning the static boundary detection task and for evaluating performance on a test set. A video camera and previously developed background subtraction algorithms can automatically produce a large database of motion-segmented images for minimal cost. The purpose of this work is to use the information in such a database to learn how to detect the object boundaries in novel images using static information, such as color, texture, and shape. This work was funded in part by the Office of Naval Research contract #N00014-00-1-0298, in part by the Singapore-MIT Alliance agreement of 11/6/98, and in part by a National Science Foundation Graduate Student Fellowship

Long-Term Outcomes in Anterior Cruciate Ligament Reconstruction: A Systematic Review of Patellar Tendon Versus Hamstring Autografts.

BACKGROUND: Much controversy still exists surrounding graft choice in anterior cruciate ligament (ACL) reconstruction. Over the past decade, an increase in comparative studies with longer follow-up has enhanced our understanding of current graft options and outcomes. PURPOSE: To describe the long-term comparative outcomes of ACL reconstruction with autograft bone-patellar tendon-bone (BPTB) versus autograft hamstring (HS) ACL reconstruction with regard to clinical and radiographic outcomes. STUDY DESIGN: Systematic review; Level of evidence, 2. METHODS: A search of the PubMed, MEDLINE, Cochrane, and Scopus databases was performed to identify studies in the English language with outcome data comparing ACL reconstruction utilizing autograft BPTB and autograft HS; only studies with a minimum 5-year follow-up were included. Outcome data included failure and complications, manual and instrumented laxity, patient-reported outcomes, and radiographic risk of osteoarthritis. RESULTS: Twelve studies with a total of 953 patients met the inclusion criteria. Of these studies, 8 were level 1 evidence and 2 were level 2. Mean follow-up was 8.96 years (range, 5-15.3 years). No differences in graft failure or manual or instrumented laxity were seen in any studies. Lower clinical outcomes scores and greater motion loss were seen in BPTB patients in 1 and 2 studies, respectively. Two of 4 studies reporting on anterior knee pain, and 3 of 7 that recorded kneeling pain found it more frequently among BPTB patients. One study found significantly increased reoperation rates in HS patients, while another found a similar result in BPTB, and 1 study reported a significant increase in contralateral ACL tears in BPTB patients. Three of 5 studies reporting on radiographic evidence of osteoarthritis noted significantly increased rates in BPTB patients. CONCLUSION: This systematic review comparing long-term outcomes after ACL reconstruction with either autograft BPTB or autograft HS suggests no significant differences in manual/instrumented laxity and graft failures between graft types. An increase in long-term anterior knee pain, kneeling pain, and higher rates of osteoarthritis were noted with BPTB graft use

Amino acid changes in the spike protein of feline coronavirus correlate with systemic spread of virus from the intestine and not with feline infectious peritonitis

Recent evidence suggests that a mutation in the spike protein gene of feline coronavirus (FCoV), which results in an amino acid change from methionine to leucine at position 1058, may be associated with feline infectious peritonitis (FIP). Tissue and faecal samples collected post mortem from cats diagnosed with or without FIP were subjected to RNA extraction and quantitative reverse-transcriptase polymerase chain reaction (qRT-PCR) to detect FCoV RNA. In cats with FIP, 95% of tissue, and 81% of faecal samples were PCR-positive, as opposed to 22% of tissue, and 60% of faecal samples in cats without FIP. Relative FCoV copy numbers were significantly higher in the cats with FIP, both in tissues (P < 0.001) and faeces (P = 0.02). PCR-positive samples underwent pyrosequencing encompassing position 1058 of the FCoV spike protein. This identified a methionine codon at position 1058, consistent with the shedding of an enteric form of FCoV, in 77% of the faecal samples from cats with FIP, and in 100% of the samples from cats without FIP. In contrast, 91% of the tissue samples from cats with FIP and 89% from cats without FIP had a leucine codon at position 1058, consistent with a systemic form of FCoV. These results suggest that the methionine to leucine substitution at position 1058 in the FCoV spike protein is indicative of systemic spread of FCoV from the intestine, rather than a virus with the potential to cause FIP

Laboratory Measurements Of White Dwarf Photospheric Spectral Lines: H Beta

We spectroscopically measure multiple hydrogen Balmer line profiles from laboratory plasmas to investigate the theoretical line profiles used in white dwarf (WD) atmosphere models. X-ray radiation produced at the Z Pulsed Power Facility at Sandia National Laboratories initiates plasma formation in a hydrogen-filled gas cell, replicating WD photospheric conditions. Here we present time-resolved measurements of H beta and fit this line using different theoretical line profiles to diagnose electron density, n(e), and n = 2 level population, n2. Aided by synthetic tests, we characterize the validity of our diagnostic method for this experimental platform. During a single experiment, we infer a continuous range of electron densities increasing from n(e) similar to 4 to similar to 30 x 10(16) cm(-3) throughout a 120-ns evolution of our plasma. Also, we observe n(2) to be initially elevated with respect to local thermodynamic equilibrium (LTE); it then equilibrates within similar to 55 ns to become consistent with LTE. This supports our electrontemperature determination of T-e similar to 1.3 eV (similar to 15,000 K) after this time. At n(e) greater than or similar to 10(17) cm(-3), we find that computer-simulation-based line-profile calculations provide better fits (lower reduced chi(2)) than the line profiles currently used in the WD astronomy community. The inferred conditions, however, are in good quantitative agreement. This work establishes an experimental foundation for the future investigation of relative shapes and strengths between different hydrogen Balmer lines.Laboratory Directed Research and Development programUnited States Department of Energy DE-AC04-94AL85000, DE-SC0010623National Science Foundation DGE-1110007Astronom

Searching for Z′Z' bosons decaying to gluons

The production and decay of a new heavy vector boson, a chromophilic $Z'$ vector boson, is described. The chromophilic $Z'$ couples only to two gluons, but its two-body decays are absent, leading to a dominant decay mode of $Z'\rightarrow q\bar{q}g$. The unusual nature of the interaction predicts a cross-section which grows with $m_{Z'}$ for a fixed coupling and an accompanying gluon with a coupling that rises with its energy. We study the $t\bar{t}g$ decay mode, proposing distinct reconstruction techniques for the observation of an excess and for the measurement of $m_{Z'}$. We estimate the sensitivity of current experimental datasets.Comment: For submission to PR

Low-temperature behavior of natural kalsilite with P31c symmetry: An in situ single-crystal X-ray diffraction study

The low-temperature behavior of a natural kalsilite (ideal formula KAlSiO4) with P31c symmetry has been investigated by in situ single-crystal diffraction. A series of intensity data collections and structural refinements have been performed at 298, 250, 200, 150, and 100 K on decreasing temperature, and 175, 225, and 275 K on increasing T. The variations of the unit-cell parameters of kalsilite as a function of T are continuous, and show no evidence of any phase transitions or thermo-elastic anomalies in this temperature range. An expansion is observed along [0001] with decreasing temperature. The axial and volume thermal expansion coefficients ({alpha}j = lj-1{middle dot}{partial}lj/{partial}T, {alpha}V = V-1{middle dot}{partial}V/{partial}T) between 298 and 100 K, calculated by weighted linear regression through the data points, are {alpha}a = {alpha}b = 1.30(6){middle dot}10-5, {alpha}c = -1.5(1){middle dot}10-5, {alpha}V = 1.1(2){middle dot}10-5 K-1. The main structural change on decreasing temperature is a cooperative anti-rotation of tetrahedra forming the six-membered rings lying parallel to (0001). This tetrahedral rotation is coupled with a change in the distances between the extra-framework cations and the framework O atoms. A small decrease in the tetrahedral tilts perpendicular to [0001] is responsible for the negative thermal expansion along [0001]; the implications of these mechanisms for thermal expansion in nephelines and kalsilites are discussed