A Framework for the Coordination of Legged Robot Gaits

This paper introduces a framework for representing, generating, and then tuning gaits of legged robots. We introduce a convenient parametrization of gait generators as dynamical systems possessing designer specified stable limit cycles over an appropriate torus. This parametrization affords a continuous selection of operation within a coordination design plane, inspired by biology, spanned by axes that determine the mix of feedforward/feedback and centralized/decentralized control. Tuning the gait generator parameters through repeated physical experiments with our robot hexapod, RHex, determines the appropriate operating point - the mix of feedback and degree of control decentralization - to achieve significantly increased performance relative to the centralized feedforward operating point that has governed its previous behavior. The present preliminary experiments with these new gaits suggest that they may permit for the first time locomotion over extremely rough terrain that is almost as reliable, rapid, and energy efficient as the very fastest or most efficient outcomes centralized feedforward gaits can achieve on level ground

Gait Generation and Optimization for Legged Robots

This paper presents a general framework for representing and generating gaitsfor legged robots. We introduce a convenient parametrization of gait generators as dynamical systems possessing specified stable limit cycles over an appropriate torus. Inspired by biology, this parametrization affords a continuous selection of operation within a coordination design plane spanned by axes that determine the mix of ”feedforward/feedback” and centralized/decentralized” control. Applying optimization to the parameterized gait generation system allowed RHex, our robotic hexapod, to learn new gaits demonstrating significant performance increases. For example, RHex can now run at 2.4m/s (up from 0.8m/s), run with a specific resistance of 0.6 (down from 2.0), climb 45◦ inclines (up from 25◦), and traverse 35◦ inclines (up from 15◦)

“Chunking” spoken language - Introducing weak cesuras

With this special issue, we would like to present current Conversation-Analytic and Interactional-Linguistic work (see also Section 1.3) on the “units” of naturally occurring talk to a broader linguistic public. While there are methodological (and theoretical) differences to other, earlier approaches, we all share an interest in how language works in human interaction. One aspect of the workings of human language is its being produced in spurts or chunks. Yet, especially when applying chunking models, such chunks are not always easy to separate and thus to identify. Moreover, when studying the fuzzier instances of boundaries of such chunks in more detail, it turns out that participants can use them for interactional purposes. This is what this special issue aims to topicalize

Automated Gait Adaptation for Legged Robots

Gait parameter adaptation on a physical robot is an error-prone, tedious and time-consuming process. In this paper we present a system for gait adaptation in our RHex series of hexapedal robots that renders this arduous process nearly autonomous. The robot adapts its gait parameters by recourse to a modified version of Nelder-Mead descent while managing its self-experiments and measuring the outcome by visual servoing within a partially engineered environment. The resulting performance gains extend considerably beyond what we have managed with hand tuning. For example, the hest hand tuned alternating tripod gaits never exceeded 0.8 m/s nor achieved specific resistance helow 2.0. In contrast, Nelder-Mead based tuning has yielded alternating tripod gaits at 2.7 m/s (well over 5 body lengths per second) and reduced specific resistance to 0.6 while requiring little human intervention at low and moderate speeds. Comparable gains have been achieved on the much larger ruggedized version of this machine

Simple Baryon-Meson Mass Relations For A Logarithmic Interquark Potential

I consider the quantity delta(m_1m_2m_3) = M_{q_1q_2q_3} - [M_{q_1q_2bar} + M_{q_2q_3bar} + M_{q_1q_3bar}]/2, where the M's represent the ground state spin-averaged hadron masses with the indicated quark content and the m's the corresponding constituent quark masses. I assume a logarithmic interquark potential, the validity of a nonrelativistic approach, and various standard potential model inputs. Simple scaling arguments then imply that the quantity R(x)=delta(mmm_3)/delta(m_0m_0m_0) depends only on the ratio x=m/m_3, and is independent of m_0 as well as any parameters appearing in the potential. A simple and accurate analytic determination of delta(mmm_3), and hence R(x), is given using the 1/D expansion where D is the number of spatial dimensions. When applicable, this estimate of R(x) compares very well to experiment -- even for hadrons containing light quarks. A prediction of the above result which is likely to be tested in the near future is M_{Sigma_b^*}/2 + [M_{Lambda_b} + M_{Sigma_b}]/4 = 5774 +/- 4 MeV/c^2.Comment: 13 pages, plain TeX, 1 eps figure, uses harvmac and epsf.st

Reasons for and consequences of missed appointments in general practice in the UK: questionnaire survey and prospective review of medical records

Background Missed appointments are a common occurrence in primary care in the UK, yet little is known about the reasons for them, or the consequences of missing an appointment. This paper aims to determine the reasons for missed appointments and whether patients who miss an appointment subsequently consult their general practitioner (GP). Secondary aims are to compare psychological morbidity, and the previous appointments with GPs between subjects and a comparison group. Methods Postal questionnaire survey and prospective medical notes review of adult patients missing an appointment and the comparison group who attended appointments over a three week period in seven general practices in West Yorkshire. Results Of the 386 who missed appointments 122 (32%) responded. Of the 386 in the comparison group 223 (58%) responded, resulting in 23 case-control matched pairs with complete data collection. Over 40% of individuals who missed an appointment and participated said that they forgot the appointment and a quarter said that they tried very hard to cancel the appointment or that it was at an inconvenient time. A fifth reported family commitments or being too ill to attend. Over 90% of the patients who missed an appointment subsequently consulted within three months and of these nearly 60% consulted for the stated problem that was going to be presented in the missed consultation. The odds of missing an appointment decreased with increasing age and were greater among those who had missed at least one appointment in the previous 12 months. However, estimates for comparisons between those who missed appointments and the comparison group were imprecise due to the low response rate. Conclusion Patients who miss appointments tend to cite practice factors and their own forgetfulness as the main reasons for doing so, and most attend within three months of a missed appointment. This study highlights a number of implications for future research. More work needs to be done to engage people who miss appointments into research in a meaningful way

Analysis of the question–answer service of the Emma Children’s Hospital information centre

The information centre of the Emma Children’s Hospital AMC (EKZ AMC) is a specialised information centre where paediatric patients and persons involved with the patient can ask questions about all aspects of disease and its social implications. The aim of the study was to evaluate the question–answer service of this information centre in order to determine the role of a specialised information centre in an academic children’s hospital, identify the appropriate resources for the service and potential positive effects. For this purpose, a case management system was developed in MS ACCESS. The characteristics of the requester and the question, the time it took to answer questions, the information sources used and the extent to which we were able to answer the questions were registered. The costs of the service were determined. We analysed all questions that were asked in the year 2007. Fourteen hundred thirty-four questions were asked. Most questions were asked by parents (23.3%), healthcare workers (other than nurses; 16.5%) and nurses (15.3%). The scope of the most frequently asked questions include disease (20.2%) and treatment (13.0%). Information on paper was the main information source used. Most questions could be solved within 15 min. Twelve percent to 28% of total working hours are used for the question–answer service. Total costs including staff salary are rather large. In conclusions, taking over the task of providing additional medical information and by providing readily available, good quality information that healthcare professionals can use to inform their patients will lead to less time investment of these more expensive staff members. A specialised information service can anticipate on the information need of parents and persons involved with the paediatric patient. It improves information by providing with relatively simple resources that has the potential to improve patient and parent satisfaction, coping and medical results. A specialised information centre is therefore a valuable and affordable asset to an academic children’s hospital

The sigma and f_0(980) from Ke4 + pi-pi scatterings data

We systematically reconsider, within an improved "analytic K-matrix model", the extraction of the sigma = f_0(600) and f_0(980) masses, widths and hadronic couplings using new Ke4 = K-->pi-pi e nu_e data on pi-pi phase shift below 390 MeV and different sets of pi-pi--> pi-pi / K-K scatterings data from 400 MeV to 1.4 GeV. Our results are summarized in Tables 1, 2 and 5. In units of MeV, the complex poles are: M_sigma=452(12) - i 260(15) and M_f=981(34) -i 18(11), which are comparable with some recent high-precision determinations and with PDG values. Besides some other results, we find: |g_{sigma K+K-}|/|g_{sigma pi+pi-}|=0.37(6) which confirms a sizeable g_{sigma K+K-} coupling found earlier, and which disfavours a large pi-pi molecule or four-quark component of the sigma, while its broad pi-pi width (relative to the one of the rho-meson) cannot be explained within a \bar qq scenario. The narrow pi-pi width of the f_0(980) and the large value: |g_{f K+K-}|/|g_{f pi+pi-}|=2.59(1.34), excludes its pure (\bar uu+\bar dd) content. A significant gluonium component eventually mixed with \bar qq appears to be necessary for evading the previous difficulties.Comment: 9 pages, 3 figures, 6 table

Prediction of Opioid-Induced Respiratory Depression on Inpatient Wards Using Continuous Capnography and Oximetry: An International Prospective, Observational Trial

Background: Opioid-related adverse events are a serious problem in hospitalized patients. Little is known about patients who are likely to experience opioid-induced respiratory depression events on the general care floor and may benefit from improved monitoring and early intervention. The trial objective was to derive and validate a risk prediction tool for respiratory depression in patients receiving opioids, as detected by continuous pulse oximetry and capnography monitoring. Methods: PRediction of Opioid-induced respiratory Depression In patients monitored by capnoGraphY (PRODIGY) was a prospective, observational trial of blinded continuous capnography and oximetry conducted at 16 sites in the United States, Europe, and Asia. Vital signs were intermittently monitored per standard of care. A total of 1335 patients receiving parenteral opioids and continuously monitored on the general care floor were included in the analysis. A respiratory depression episode was defined as respiratory rate ≤5 breaths/min (bpm), oxygen saturation ≤85%, or end-tidal carbon dioxide ≤15 or ≥60 mm Hg for ≥3 minutes; apnea episode lasting >30 seconds; or any respiratory opioid-related adverse event. A risk prediction tool was derived using a multivariable logistic regression model of 46 a priori defined risk factors with stepwise selection and was internally validated by bootstrapping. Results: One or more respiratory depression episodes were detected in 614 (46%) of 1335 general care floor patients (43% male; mean age, 58 ± 14 years) continuously monitored for a median of 24 hours (interquartile range [IQR], 17-26). A multivariable respiratory depression prediction model with area under the curve of 0.740 was developed using 5 independent variables: age ≥60 (in decades), sex, opioid naivety, sleep disorders, and chronic heart failure. The PRODIGY risk prediction tool showed significant separation between patients with and without respiratory depression (P < .001) and an odds ratio of 6.07 (95% confidence interval [CI], 4.44-8.30; P < .001) between the high- and low-risk groups. Compared to patients without respiratory depression episodes, mean hospital length of stay was 3 days longer in patients with ≥1 respiratory depression episode (10.5 ± 10.8 vs 7.7 ± 7.8 days; P < .0001) identified using continuous oximetry and capnography monitoring. Conclusions: A PRODIGY risk prediction model, derived from continuous oximetry and capnography, accurately predicts respiratory depression episodes in patients receiving opioids on the general care floor. Implementation of the PRODIGY score to determine the need for continuous monitoring may be a first step to reduce the incidence and consequences of respiratory compromise in patients receiving opioids on the general care floor

The relationship between organisational characteristics and the effects of clinical guidelines on medical performance in hospitals, a meta-analysis

We are grateful to our colleagues involved in the systematic review of guideline dissemination and implementation strategies across all settings especially Cynthia Fraser, Graeme MacLennan, Craig Ramsay, Paula Whitty, Martin Eccles, Lloyd Matowe, Liz Shirran. The systematic review of guideline dissemination and implementation strategies across all settings was funded by the UK NHS Health Technology Assessment Program. Dr Ruth Thomas is funded by a Wellcome Training Fellowship in Health Services Research. (Grant number GR063790MA). The Health Services Research Unit is funded by the Chief Scientists Office of the Scottish Executive Department of Health. Dr Jeremy Grimshaw holds a Canada Research Chair in Health Knowledge Transfer and Uptake. However the views expressed are those of the authors and not necessarily the funders.Peer reviewedPublisher PD