Object-based task-level control: A hierarchical control architecture for remote operation of space robots

Expanding man's presence in space requires capable, dexterous robots capable of being controlled from the Earth. Traditional 'hand-in-glove' control paradigms require the human operator to directly control virtually every aspect of the robot's operation. While the human provides excellent judgment and perception, human interaction is limited by low bandwidth, delayed communications. These delays make 'hand-in-glove' operation from Earth impractical. In order to alleviate many of the problems inherent to remote operation, Stanford University's Aerospace Robotics Laboratory (ARL) has developed the Object-Based Task-Level Control architecture. Object-Based Task-Level Control (OBTLC) removes the burden of teleoperation from the human operator and enables execution of tasks not possible with current techniques. OBTLC is a hierarchical approach to control where the human operator is able to specify high-level, object-related tasks through an intuitive graphical user interface. Infrequent task-level command replace constant joystick operations, eliminating communications bandwidth and time delay problems. The details of robot control and task execution are handled entirely by the robot and computer control system. The ARL has implemented the OBTLC architecture on a set of Free-Flying Space Robots. The capability of the OBTLC architecture has been demonstrated by controlling the ARL Free-Flying Space Robots from NASA Ames Research Center

Design of the PACIFIC study: A randomized controlled trial evaluating a novel treatment for adults with overweight and obesity.

The majority of adults in the United States have overweight or obesity which is associated with significant health and psychological consequences. Behavioral Weight Loss (BWL) is the current gold-standard weight-loss program for adults but recidivism rates continue to be disturbingly high. Given the health consequences of excess weight and the lack of long-term effectiveness of BWL, it is important to identify novel weight-loss programs. We developed the ROC (Regulation of Cues) program to reduce overeating through improvement in sensitivity to appetitive cues and decreased responsivity to external food cues. This study is a 4-arm randomized control trial designed to evaluate the efficacy of ROC, ROC combined with BWL, BWL alone and an active comparator over 24 months. Study recruitment completed in November 2017. Two hundred and seventy-one participants were randomized (mean age = 46.97 years; 82% female, mean BMI = 34.59; 20% Hispanic) and assessments were conducted at baseline, mid-treatment (6 months) and post-treatment (12 months). At this time, participants are completing 6- (18 months) and 12-month (24 months) follow-ups. Targeting novel mechanisms is critically important to improve weight-loss programs. Through this trial, we hope to identify treatments for adults with overweight and obesity to facilitate long-term weight loss and improved health

Airway basal stem cells: a perspective on their roles in epithelial homeostasis and remodeling

The small airways of the human lung undergo pathological changes in pulmonary disorders, such as chronic obstructive pulmonary disease (COPD), asthma, bronchiolitis obliterans and cystic fibrosis. These clinical problems impose huge personal and societal healthcare burdens. The changes, termed ‘pathological airway remodeling’, affect the epithelium, the underlying mesenchyme and the reciprocal trophic interactions that occur between these tissues. Most of the normal human airway is lined by a pseudostratified epithelium of ciliated cells, secretory cells and 6–30% basal cells, the proportion of which varies along the proximal-distal axis. Epithelial abnormalities range from hypoplasia (failure to differentiate) to basal- and goblet-cell hyperplasia, squamous- and goblet-cell metaplasia, dysplasia and malignant transformation. Mesenchymal alterations include thickening of the basal lamina, smooth muscle hyperplasia, fibrosis and inflammatory cell accumulation. Paradoxically, given the prevalence and importance of airway remodeling in lung disease, its etiology is poorly understood. This is due, in part, to a lack of basic knowledge of the mechanisms that regulate the differentiation, maintenance and repair of the airway epithelium. Specifically, little is known about the proliferation and differentiation of basal cells, a multipotent stem cell population of the pseudostratified airway epithelium. This Perspective summarizes what we know, and what we need to know, about airway basal cells to evaluate their contributions to normal and abnormal airway remodeling. We contend that exploiting well-described model systems using both human airway epithelial cells and the pseudostratified epithelium of the genetically tractable mouse trachea will enable crucial discoveries regarding the pathogenesis of airway disease

Chemistry and toxicology of quinoxaline, organotin, organofluorine, and formamidine acaricides.

Quinoxaline, organotin, organofluorine, and formamidine compounds are among the newer pesticide chemicals used for acarine control. Included in these four classes are some of the most selective synthetic organic toxicants currently in the acaricide/insecticide arsenal. Oxythioquinox, Plictran (tricyclohexylhydroxytin), Nissol [2-fluoro-N-methyl-N-(1-naphthyl)acetamide], and chlordimeform are examples of quinoxaline, organotin, organofluorine, and formamidine acaricides, respectively. The chemistry and toxicology of these and related compounds are discussed

Inclusive Electron Scattering from Nuclei at x≃1x \simeq 1

The inclusive A(e,e') cross section for $x \simeq 1$ was measured on $^2$H, C, Fe, and Au for momentum transfers $Q^2$ from 1-7 (GeV/c)$^2$. The scaling behavior of the data was examined in the region of transition from y-scaling to x-scaling. Throughout this transitional region, the data exhibit $\xi$-scaling, reminiscent of the Bloom-Gilman duality seen in free nucleon scattering.Comment: 4 pages, RevTeX; 4 figures (postscript in .tar.Z file

On the effects of the final state interaction in the electro-disintegration of the deuteron at intermediate and high energies

The role of the final state interactions (FSI) in the inclusive quasi-elastic disintegration of the deuteron is investigated treating the two-nucleon final state within the exact continuum solutions of the non-relativistic Schroedinger equation, as well as within the Glauber multiple scattering approach. It is shown that for values of the Bjorken scaling variable $x_{Bj}\simeq 1$ both approaches provide similar results, unless the case $x_{Bj}\gtrsim 1$, where they appreciably disagree. It is demonstrated that present experimental data, which are mostly limited to a region of four-momentum transfer ($Q^2 \lesssim 4 (GeV/c)^2$) where the Center-of-Mass energy of the final state is below the pion threshold production, can be satisfactorily reproduced by the approach based on the exact solution of the Schroedinger equation and not by the Glauber approach. It is also pointed out that the latter, unlike the former, does not satisfy the inelastic Coulomb sum rule, the violation being of the order of about 20%.Comment: 16 LaTeX pages, 10 eps-figures, 1 tabl

Octet-Baryon Form Factors in the Diquark Model

We present an alternative parameterization of the quark-diquark model of baryons which particularly takes care of the most recent proton electric form-factor data from the E136 experiment at SLAC. In addition to electromagnetic form factors of the nucleon, for which good agreement with data is achieved, we discuss the weak axial vector form factor of the nucleon as well as electromagnetic form factors of $\Lambda$ and $\Sigma$ hyperons. Technical advance in calculating the pertinent analytic expressions within perturbative quantum chromodynamics is gained by formulating the wave function of the quark-diquark system in a covariant way. Finally, we also comment on the influence of Sudakov corrections within the scope of the diquark model.Comment: 16 pages, WU-B 93-07, latex, uuencoded postscript files of 7 figures appended at the end of the latex fil

Deconstructing the lesbian, gay, bisexual, transgender victim of sex trafficking: Harm, exceptionality and religion–sexuality tensions

Contrary to widespread belief, sex trafficking also targets lesbian, gay, bisexual, transgender (LGBT) communities. Contemporary social and political constructions of victimhood lie at the heart of regulatory policies on sex trafficking. Led by the US Department of State, knowledge about LGBT victims of trafficking constitutes the newest frontier in the expansion of criminalization measures. These measures represent a crucial shift. From a burgeoning range of preemptive measures enacted to protect an amorphous class of ‘all potential victims’, now policies are heavily premised on the risk posed by traffickers to ‘victims of special interest’. These constructed identities, however, are at odds with established structures. Drawing on a range of literatures, the core task of this article is to confront some of the complexities and tensions surrounding constructions of LGBT trafficking victims. Specifically, the article argues that discourses of ‘exceptional vulnerability’ and the polarized notions of ‘innocence’ and ‘guilt’ inform hierarchies of victimhood. Based on these insights, the article argues for the need to move beyond monolithic understandings of victims, by reframing the politics of harm accordingly