A General Stance Stability Test Based on Stratified Morse Theory With Application to Quasi-Static Locomotion Planning

This paper considers the stability of an object supported by several frictionless contacts in a potential field such as gravity. The bodies supporting the object induce a partition of the object's configuration space into strata corresponding to different contact arrangements. Stance stability becomes a geometric problem of determining whether the object's configuration is a local minimum of its potential energy function on the stratified configuration space. We use Stratified Morse Theory to develop a generic stance stability test that has the following characteristics. For a small number of contacts---less than three in 2-D and less than six in 3-D---stance stability depends both on surface normals and surface curvature at the contacts. Moreover, lower curvature at the contacts leads to better stability. For a larger number of contacts, stance stability depends only on surface normals at the contacts. The stance stability test is applied to quasi-static locomotion planning in two dimensions. The region of stable center-of-mass positions associated with a $k$-contact stance is characterized. Then, a quasi-static locomotion scheme for a three-legged robot over a piecewise linear terrain is described. Finally, friction is shown to provide robustness and enhanced stability for the frictionless locomotion plan. A full maneuver simulation illustrates the locomotion scheme

Fast multipole networks

Two prerequisites for robotic multiagent systems are mobility and communication. Fast multipole networks (FMNs) enable both ends within a unified framework. FMNs can be organized very efficiently in a distributed way from local information and are ideally suited for motion planning using artificial potentials. We compare FMNs to conventional communication topologies, and find that FMNs offer competitive communication performance (including higher network efficiency per edge at marginal energy cost) in addition to advantages for mobility

Etoricoxibium picrate

In the cation of the title salt (systematic name: 5-{5-chloro-3-[4-(methyl­sulfon­yl)phen­yl]-2-pyrid­yl}-2-methyl­pyridinium 2,4,6-trinitro­phenolate), C18H16ClN2O2S+·C6H2N3O7 −, the mean planes of the two pyridine rings in the bipyridine unit are twisted by 33.9 (2)° with respect to each other. The dihedral angles between the mean planes of the sulfonyl­benzene ring and the chloro­pyridine and methyl­pyridine rings are 51.2 (0) and 49.3 (9)°, respectively. The picrate anion inter­acts with the protonated N atom through a bifurcated N—H⋯(O,O) hydrogen bond, forming an R 1 2(6) ring motif with the N atom from the methyl­pyridine group of an adjacent cation. N—H⋯O hydrogen bonds, weak C—H⋯O and π–π stacking inter­actions [centroid–centroid distances = 3.8192 (9)and 3.6749 (9)] occur in the crystal packing, creating a two-dimensional network structure along [110]

Design and Evaluation of Path Planning Decision Support for Planetary Surface Exploration

Human intent is an integral part of real-time path planning and re-planning, thus any decision aiding system must support human-automation interaction. The appropriate balance between humans and automation for this task has previously not been adequately studied. In order to better understand task allocation and collaboration between humans and automation for geospatial path problem solving, a prototype path planning aid was developed and tested. The focus was human planetary surface exploration, a high risk, time-critical domain, but the scenario is representative of any domain where humans path plan across uncertain terrain. Three visualizations, including elevation contour maps, a novel visualization called levels of equal costs, and a combination of the two were tested along with two levels of automation. When participants received the lower level of automation assistance, their path costs errors were less than 35% of the optimal, and they integrated manual sensitivity analysis strategies. When participants used the higher level of automation assistance, path costs errors were reduced to a few percentages, and they saved on average 1.5 minutes in the task. However, this increased performance came at the price of decreased situation awareness and automation bias.We would like to acknowledge the NASA Harriett G. Jenkins Predoctoral Fellowship and the Office of Naval Research for sponsoring this research

Clinical pharmacology of cancer therapies in older adults

This abbreviated review outlines the physiologic changes associated with aging, and examines how these changes may affect the pharmacokinetics and pharmacodynamics of anticancer therapies. We also provide an overview of studies that have been conducted evaluating the pharmacology of anticancer therapies in older adults, and issue a call for further research

Performance of two head injury decision rules evaluated on an external cohort of 18,913 children

The Pediatric Emergency Care Applied Research Network (PECARN) decision rule demonstrates high sensitivity for identifying children at low risk for clinically important traumatic brain injury (ciTBI). As with the PECARN rule, the Israeli Decision Algorithm for Identifying TBI in Children (IDITBIC) recommends proceeding directly to computed tomography (CT) in children with Glasgow Coma Score (GCS) lower than 15. The aim was to assess the diagnostic accuracy of two clinical rules that assign children with GCS lower than 15 at presentation directly to CT

Early inhaled budesonide for the prevention of bronchopulmonary dysplasia

BACKGROUND Systemic glucocorticoids reduce the incidence of bronchopulmonary dysplasia among extremely preterm infants, but they may compromise brain development. The effects of inhaled glucocorticoids on outcomes in these infants are unclear. METHODS We randomly assigned 863 infants (gestational age, 23 weeks 0 days to 27 weeks 6 days) to early (within 24 hours after birth) inhaled budesonide or placebo until they no longer required oxygen and positive-pressure support or until they reached a postmenstrual age of 32 weeks 0 days. The primary outcome was death or bronchopulmonary dysplasia, confirmed by means of standardized oxygen-saturation monitoring, at a postmenstrual age of 36 weeks. RESULTS A total of 175 of 437 infants assigned to budesonide for whom adequate data were available (40.0%), as compared with 194 of 419 infants assigned to placebo for whom adequate data were available (46.3%), died or had bronchopulmonary dysplasia (relative risk, stratified according to gestational age, 0.86; 95% confidence interval [CI], 0.75 to 1.00; P = 0.05). The incidence of bronchopulmonary dysplasia was 27.8% in the budesonide group versus 38.0% in the placebo group (relative risk, stratified according to gestational age, 0.74; 95% CI, 0.60 to 0.91; P = 0.004); death occurred in 16.9% and 13.6% of the patients, respectively (relative risk, stratified according to gestational age, 1.24; 95% CI, 0.91 to 1.69; P = 0.17). The proportion of infants who required surgical closure of a patent ductus arteriosus was lower in the budesonide group than in the placebo group (relative risk, stratified according to gestational age, 0.55; 95% CI, 0.36 to 0.83; P = 0.004), as was the proportion of infants who required reintubation (relative risk, stratified according to gestational age, 0.58; 95% CI, 0.35 to 0.96; P = 0.03). Rates of other neonatal illnesses and adverse events were similar in the two groups. CONCLUSIONS Among extremely preterm infants, the incidence of bronchopulmonary dysplasia was lower among those who received early inhaled budesonide than among those who received placebo, but the advantage may have been gained at the expense of increased mortality

Evaluation and Treatment of Iron Deficiency Anemia: A Gastroenterological Perspective

A substantial volume of the consultations requested of gastroenterologists are directed towards the evaluation of anemia. Since iron deficiency anemia often arises from bleeding gastrointestinal lesions, many of which are malignant, establishment of a firm diagnosis usually obligates an endoscopic evaluation. Although the laboratory tests used to make the diagnosis have not changed in many decades, their interpretation has, and this is possibly due to the availability of extensive testing in key populations. We provide data supporting the use of the serum ferritin as the sole useful measure of iron stores, setting the lower limit at 100 μg/l for some populations in order to increase the sensitivity of the test. Trends of the commonly obtained red cell indices, mean corpuscular volume, and the red cell distribution width can provide valuable diagnostic information. Once the diagnosis is established, upper and lower gastrointestinal endoscopy is usually indicated. Nevertheless, in many cases a gastrointestinal source is not found after routine evaluation. Additional studies, including repeat upper and lower endoscopy and often investigation of the small intestine may thus be required. Although oral iron is inexpensive and usually effective, there are many gastrointestinal conditions that warrant treatment of iron deficiency with intravenous iron

The Cholesterol Metabolite 25-Hydroxycholesterol Activates Estrogen Receptor α-Mediated Signaling in Cancer Cells and in Cardiomyocytes

The hydroxylated derivatives of cholesterol, such as the oxysterols, play important roles in lipid metabolism. In particular, 25-hydroxycholesterol (25 HC) has been implicated in a variety of metabolic events including cholesterol homeostasis and atherosclerosis. 25 HC is detectable in human plasma after ingestion of a meal rich in oxysterols and following a dietary cholesterol challenge. In addition, the levels of oxysterols, including 25 HC, have been found to be elevated in hypercholesterolemic serum.Here, we demonstrate that the estrogen receptor (ER) α mediates gene expression changes and growth responses induced by 25 HC in breast and ovarian cancer cells. Moreover, 25 HC exhibits the ERα-dependent ability like 17 β-estradiol (E2) to inhibit the up-regulation of HIF-1α and connective tissue growth factor by hypoxic conditions in cardiomyocytes and rat heart preparations and to prevent the hypoxia-induced apoptosis.The estrogen action exerted by 25 HC may be considered as an additional factor involved in the progression of breast and ovarian tumors. Moreover, the estrogen-like activity of 25 HC elicited in the cardiovascular system may play a role against hypoxic environments