Graphical programming of telerobotic tasks

With a goal of producing faster, safer, and cheaper technologies for nuclear waste cleanup, Sandia is actively developing and extending intelligent systems technologies through the US Department of Energy Office of Technology Development (DOE OTD) Robotic Technology Development Program (RTDP). Graphical programming is a key technology for robotic waste cleanup that Sandia is developing for this goal. Graphical programming uses simulation such as TELEGRIP `on-line` to program and control robots. Characterized by its model-based control architecture, integrated simulation, `point-and-click` graphical user interfaces, task and path planning software, and network communications, Sandia`s Graphical Programming systems allow operators to focus on high-level robotic tasks rather than the low-level details. Use of scripted tasks, rather than customized programs minimizes the necessity of recompiling supervisory control systems and enhances flexibility. Rapid world-modelling technologies allow Graphical Programming to be used in dynamic and unpredictable environments including digging and pipe-cutting. This paper describes Sancho, Sandia`s most advanced graphical programming supervisory software. Sancho, now operational on several robot systems, incorporates all of Sandia`s recent advances in supervisory control. Graphical programming uses 3-D graphics models as intuitive operator interfaces to program and control complex robotic systems. The goal of the paper is to help the reader understand how Sandia implements graphical programming systems and which key features in Sancho have proven to be most effective

Graphical programming of telerobotic tasks

With a goal of producing faster, safer, and cheaper technologies for nuclear waste cleanup, Sandia is actively developing and extending intelligent systems technologies. Graphical Programming is a key technology for robotic waste cleanup that Sandia is developing for this goal. This paper describes Sancho, Sandia most advanced Graphical Programming supervisory software. Sancho, now operational on several robot systems, incorporates all of Sandia`s recent advances in supervisory control. Sancho, developed to rapidly apply Graphical Programming on a diverse set of robot systems, uses a general set of tools to implement task and operational behavior. Sancho can be rapidly reconfigured for new tasks and operations without modifying the supervisory code. Other innovations include task-based interfaces, event-based sequencing, and sophisticated GUI design. These innovations have resulted in robot control programs and approaches that are easier and safer to use than teleoperation, off-line programming, or full automation

Dynamic Evolution of a Quasi-Spherical General Polytropic Magnetofluid with Self-Gravity

In various astrophysical contexts, we analyze self-similar behaviours of magnetohydrodynamic (MHD) evolution of a quasi-spherical polytropic magnetized gas under self-gravity with the specific entropy conserved along streamlines. In particular, this MHD model analysis frees the scaling parameter $n$ in the conventional polytropic self-similar transformation from the constraint of $n+\gamma=2$ with $\gamma$ being the polytropic index and therefore substantially generalizes earlier analysis results on polytropic gas dynamics that has a constant specific entropy everywhere in space at all time. On the basis of the self-similar nonlinear MHD ordinary differential equations, we examine behaviours of the magnetosonic critical curves, the MHD shock conditions, and various asymptotic solutions. We then construct global semi-complete self-similar MHD solutions using a combination of analytical and numerical means and indicate plausible astrophysical applications of these magnetized flow solutions with or without MHD shocks.Comment: 21 pages, 7 figures, accepted for publication in APS

Hot topics in research: Preventive neuroradiology in brain aging and cognitive decline

Preventive neuroradiology is a new concept supported by growing literature. The main rationale of preventive neuroradiology is the application of multimodal brain imaging toward early and subclinical detection of brain disease and subsequent preventive actions through identification of modifiable risk factors. An insightful example of this is in the area of age-related cognitive decline, mild cognitive impairment, and dementia with potentially modifiable risk factors such as obesity, diet, sleep, hypertension, diabetes, depression, supplementation, smoking, and physical activity. In studying this link between lifestyle and cognitive decline, brain imaging markers may be instrumental as quantitative measures or even indicators of early disease. The purpose of this article is to provide an overview of the major studies reflecting how lifestyle factors affect the brain and cognition aging. In this hot topics review, we will specifically focus on obesity and physical activity

Abiraterone in metastatic prostate cancer without previous chemotherapy

Background: Abiraterone acetate, an androgen biosynthesis inhibitor, improves overall survival in patients with metastatic castration-resistant prostate cancer after chemotherapy. We evaluated this agent in patients who had not received previous chemotherapy. Methods: In this double-blind study, we randomly assigned 1088 patients to receive abiraterone acetate (1000 mg) plus prednisone (5 mg twice daily) or placebo plus prednisone. The coprimary end points were radiographic progression-free survival and overall survival. Results: The study was unblinded after a planned interim analysis that was performed after 43% of the expected deaths had occurred. The median radiographic progressionfree survival was 16.5 months with abiraterone - prednisone and 8.3 months with prednisone alone (hazard ratio for abiraterone - prednisone vs. prednisone alone, 0.53; 95% confidence interval [CI], 0.45 to 0.62; P<0.001). Over a median follow-up period of 22.2 months, overall survival was improved with abiraterone - prednisone (median not reached, vs. 27.2 months for prednisone alone; hazard ratio, 0.75; 95% CI, 0.61 to 0.93; P = 0.01) but did not cross the efficacy boundary. Abiraterone - prednisone showed superiority over prednisone alone with respect to time to initiation of cytotoxic chemotherapy, opiate use for cancer-related pain, prostate-specific antigen progression, and decline in performance status. Grade 3 or 4 mineralocorticoid-related adverse events and abnormalities on liver-function testing were more common with abiraterone-prednisone. Conclusions: Abiraterone improved radiographic progression-free survival, showed a trend toward improved overall survival, and significantly delayed clinical decline and initiation of chemotherapy in patients with metastatic castration-resistant prostate cancer

Genome-Wide Association Study in BRCA1 Mutation Carriers Identifies Novel Loci Associated with Breast and Ovarian Cancer Risk

BRCA1-associated breast and ovarian cancer risks can be modified by common genetic variants. To identify further cancer risk-modifying loci, we performed a multi-stage GWAS of 11,705 BRCA1 carriers (of whom 5,920 were diagnosed with breast and 1,839 were diagnosed with ovarian cancer), with a further replication in an additional sample of 2,646 BRCA1 carriers. We identified a novel breast cancer risk modifier locus at 1q32 for BRCA1 carriers (rs2290854, P = 2.7×10-8, HR = 1.14, 95% CI: 1.09-1.20). In addition, we identified two novel ovarian cancer risk modifier loci: 17q21.31 (rs17631303, P = 1.4×10-8, HR = 1.27, 95% CI: 1.17-1.38) and 4q32.3 (rs4691139, P = 3.4×10-8, HR = 1.20, 95% CI: 1.17-1.38). The 4q32.3 locus was not associated with ovarian cancer risk in the general population or BRCA2 carriers, suggesting a BRCA1-specific associat

SARS-CoV-2-specific nasal IgA wanes 9 months after hospitalisation with COVID-19 and is not induced by subsequent vaccination

BACKGROUND: Most studies of immunity to SARS-CoV-2 focus on circulating antibody, giving limited insights into mucosal defences that prevent viral replication and onward transmission. We studied nasal and plasma antibody responses one year after hospitalisation for COVID-19, including a period when SARS-CoV-2 vaccination was introduced. METHODS: In this follow up study, plasma and nasosorption samples were prospectively collected from 446 adults hospitalised for COVID-19 between February 2020 and March 2021 via the ISARIC4C and PHOSP-COVID consortia. IgA and IgG responses to NP and S of ancestral SARS-CoV-2, Delta and Omicron (BA.1) variants were measured by electrochemiluminescence and compared with plasma neutralisation data. FINDINGS: Strong and consistent nasal anti-NP and anti-S IgA responses were demonstrated, which remained elevated for nine months (p < 0.0001). Nasal and plasma anti-S IgG remained elevated for at least 12 months (p < 0.0001) with plasma neutralising titres that were raised against all variants compared to controls (p < 0.0001). Of 323 with complete data, 307 were vaccinated between 6 and 12 months; coinciding with rises in nasal and plasma IgA and IgG anti-S titres for all SARS-CoV-2 variants, although the change in nasal IgA was minimal (1.46-fold change after 10 months, p = 0.011) and the median remained below the positive threshold determined by pre-pandemic controls. Samples 12 months after admission showed no association between nasal IgA and plasma IgG anti-S responses (R = 0.05, p = 0.18), indicating that nasal IgA responses are distinct from those in plasma and minimally boosted by vaccination. INTERPRETATION: The decline in nasal IgA responses 9 months after infection and minimal impact of subsequent vaccination may explain the lack of long-lasting nasal defence against reinfection and the limited effects of vaccination on transmission. These findings highlight the need to develop vaccines that enhance nasal immunity. FUNDING: This study has been supported by ISARIC4C and PHOSP-COVID consortia. ISARIC4C is supported by grants from the National Institute for Health and Care Research and the Medical Research Council. Liverpool Experimental Cancer Medicine Centre provided infrastructure support for this research. The PHOSP-COVD study is jointly funded by UK Research and Innovation and National Institute of Health and Care Research. The funders were not involved in the study design, interpretation of data or the writing of this manuscript