An Autonomous Robotic System for Mapping Abandoned Mines

We present the software architecture of a robotic system for mapping abandoned mines. The software is capable of acquiring consistent 2D maps of large mines with many cycles, represented as Markov random fields. 3D C-space maps are acquired from local 3D range scans, which are used to identify navigable paths using A* search. Our system has been deployed in three abandoned mines, two of which inaccessible to people, where it has acquired maps of unprecedented detail and accuracy

Normal levels of p27Xic1 are necessary for somite segmentation and determining pronephric organ size

The Xenopus laevis cyclin dependent kinase inhibitor p27Xic1 has been shown to be involved in exit from the cell cycle and differentiation of cells into a quiescent state in the nervous system, muscle tissue, heart and retina. We show that p27Xic1 is expressed in the developing kidney in the nephrostomal regions. Using over-expression and morpholino oligonucleotide (MO) knock-down approaches we show normal levels of p27Xic1 regulate pronephros organ size by regulating cell cycle exit. Knock-down of p27Xic1 expression using a MO prevented myogenesis, as previously reported; an effect that subsequently inhibits pronephrogenesis. Furthermore, we show that normal levels of p27Xic1 are required for somite segmentation also through its cell cycle control function. Finally, we provide evidence to suggest correct paraxial mesoderm segmentation is not necessary for pronephric induction in the intermediate mesoderm. These results indicate novel developmental roles for p27Xic1, and reveal its differentiation function is not universally utilised in all developing tissues

The Effects of Feeding Benzoic Acid and Essential Oils on Growth Performance, Survivability and Fecal Characteristics of Grower Pigs

A total of 200 pigs (DNA Line 200 × 400) with an initial body weight of 81 lb were used to determine the effects of feeding benzoic acid and an essential oil blend (Vevo- Vitall and CRINA Piglets AF, DSM Nutritional Products, Parsippany, NJ) to grower pigs. There were 10 pigs per pen and 10 pens per treatment in this 28-d grower trial. Pigs were allotted by BW and randomly assigned to 1 of 2 dietary treatments. Dietary treatments included a control diet, or the control diet with added benzoic acid (6.00 lb/ ton) paired with an essential oil blend (0.20 lb/ton). For overall growth performance (d 0 to 28), adding benzoic acid and an essential oil blend to the grower diet did not affect (P \u3e 0.05) ADG, ADFI, or F/G. Throughout the duration of this study, a trend (P = 0.06) was found for an increased loss from death and removals in pigs fed the control diet compared to pigs fed a diet containing an acidifier and essential oil blend. Lawsonia was detected in all d 28 fecal samples collected, except for one, whereas Salmonella was not detected in any of the fecal samples. Although there was no hemolytic Escherichia coli detected, there were other coliforms that were sporadic in occurrence. When comparing fecal samples collected on d 14, there was a tendency (P = 0.10) for pigs fed the control diet to have greater amounts of E. coli detected than those pigs fed the diet containing benzoic acid and an essential oil blend. More research is needed to confirm the reduced death loss found for pigs fed benzoic acid and an essential oil blend compared to pigs fed a control diet

The Effects of Feeding Benzoic Acid and Essential Oils on Sows and Litter Performance

A total of 48 sows (DNA Line 200 × 400) and their progeny were used in this study to determine if feeding sows and/or piglets benzoic acid (VevoVitall, DSM Nutritional Products, Parsippany, NJ) paired with an essential oil blend (CRINA, DSM Nutritional Products, Parsippany, NJ) enhances sow and pig performance during lactation, piglet weight gain in the nursery, and survivability to market. For sow and preweaned piglet performance in the farrowing house, adding benzoic acid and an essential oil blend to the maternal diet did not affect (P \u3e 0.05) litter performance or weaning weight of the piglets. Fecal swabbing litters the day before weaning showed the pigs did not eat the creep feed. Nursery pigs weighed on d 12 or d 45 postweaning were not heavier (P \u3e 0.05) due to the maternal diet or the presence/absence of creep feed in the farrowing crate. Also, survivability of pigs from weaning to market did not increase due to maternal diet (P \u3e 0.05). From this study, it appears that benzoic acid paired with an essential oil blend does not affect sow and pig performance or survivability to market

Worry is associated with robust reductions in heart rate variability: a transdiagnostic study of anxiety psychopathology

Background Individuals with anxiety disorders display reduced resting-state heart rate variability (HRV), although findings have been contradictory and the role of specific symptoms has been less clear. It is possible that HRV reductions may transcend diagnostic categories, consistent with dimensional-trait models of psychopathology. Here we investigated whether anxiety disorders or symptoms of anxiety, stress, worry and depression are more strongly associated with resting-state HRV. Methods Resting-state HRV was calculated in participants with clinical anxiety (n = 25) and healthy controls (n = 58). Symptom severity measures of worry, anxiety, stress, and depression were also collected from participants, regardless of diagnosis. Results Participants who fulfilled DSM-IV criteria for an anxiety disorder displayed diminished HRV, a difference at trend level significance (p = .1, Hedges’ g = -.37, BF10 = .84). High worriers (Total n = 41; n = 22 diagnosed with an anxiety disorder and n = 19 not meeting criteria for any psychopathology) displayed a robust reduction in resting state HRV relative to low worriers (p = .001, Hedges’ g = -.75, BF10 = 28.16). Conclusions The specific symptom of worry – not the diagnosis of an anxiety disorder – was associated with the most robust reductions in HRV, indicating that HRV may provide a transdiagnostic biomarker of worry. These results enhance understanding of the relationship between the cardiac autonomic nervous system and anxiety psychopathology, providing support for dimensional-trait models consistent with the Research Domain Criteria framework

Measurement of \cal{B}(D^+ --> mu^+ nu) and the Pseudoscalar Decay Constant fD+f_{D^+}

In 60 pb-1 of data taken on the psi(3770) resonance with the CLEO-c detector, we find 8 D+ to mu+ nu event candidates that are mostly signal, containing only 1 estimated background. Using this statistically compelling sample, we measure preliminary values of B(D+ to mu+ nu) = (3.5 +- 1.4 +- 0.6)*10^{-4}, and determine f_{D+} =(201+- 41+- 17) MeV.Comment: 17 pages postscript, also available through http://www.lns.cornell.edu/public/CONF/2004/, Presented at ICHEP Aug 16-22,2004, Beijing, Chin

New Measurements of Upsilon(1S) Decays to Charmonium Final States

Using substantially larger data samples collected by the CLEO III detector, we report on new measurements of the decays of Upsilon(1S) to charmonium final states, including J/Psi, psi(2S), and chi_cJ. The latter two are first observations of these decays. We measure the branching fractions as follows: B(Y(1S)--> J/Psi+X)=(6.4+-0.4+-0.6)x10^-4, B(Y(1S)--> psi(2S)+X)/B(Y(1S)--> J/Psi+X)=0.41+-0.11+-0.08, B(Y(1S)--> chi_c1+X)/B(Y(1S)--> J/Psi+X)=0.35+-0.08+-0.06, B(Y(1S)--> chi_c2+X)/B(Y(1S)--> J/Psi+X)=0.52+-0.12+-0.09, and B(Y(1S)--> chi_c0+X)/B(Y(1S)--> J/Psi+X)<7.4% at 90% confidence level. We also report on the momentum and angular spectra of J/Psi's in Upsilon(1S) decay. The results are compared to predictions of the color octet and color singlet models.Comment: 27 pages postscript,also available through http://w4.lns.cornell.edu/public/CLNS/, submitted to PR

Search for X(3872) in gamma gamma Fusion and ISR at CLEO

We report on a search for the recently reported X(3872) state using 15.1 fb^{-1} e+ e- data taken in the \sqrt{s} = 9.46-11.30 GeV region. Separate searches for the production of X(3872) in untagged gamma-gamma fusion and e+ e- annihilation following initial state radiation (ISR) are made by taking advantage of the unique correlation of J/psi -> l+ l- in X(3872) decay to pi+ pi- J/psi. No signals are observed in either case, and 90% confidence upper limits are established as (2J+1)\Gamma_{\gamma\gamma}B(X -> pi+ pi- J/psi) < 12.9 eV and \Gamma_{ee}B(X -> pi+ pi- J/psi) < 8.3 eV.Comment: 8 pages postscript,also available through http://www.lns.cornell.edu/public/CLNS/2004/, submitted to PR

Heart rate variability and target organ damage in hypertensive patients

Background: We evaluated the association between linear standard Heart Rate Variability (HRV) measures and vascular, renal and cardiac target organ damage (TOD). Methods: A retrospective analysis was performed including 200 patients registered in the Regione Campania network (aged 62.4 ± 12, male 64%). HRV analysis was performed by 24-h holter ECG. Renal damage was assessed by estimated glomerular filtration rate (eGFR), vascular damage by carotid intima-media thickness (IMT), and cardiac damage by left ventricular mass index. Results: Significantly lower values of the ratio of low to high frequency power (LF/HF) were found in the patients with moderate or severe eGFR (p-value < 0.001). Similarly, depressed values of indexes of the overall autonomic modulation on heart were found in patients with plaque compared to those with a normal IMT (p-value <0.05). These associations remained significant after adjustment for other factors known to contribute to the development of target organ damage, such as age. Moreover, depressed LF/HF was found also in patients with left ventricular hypertrophy but this association was not significant after adjustment for other factors. Conclusions: Depressed HRV appeared to be associated with vascular and renal TOD, suggesting the involvement of autonomic imbalance in the TOD. However, as the mechanisms by which abnormal autonomic balance may lead to TOD, and, particularly, to renal organ damage are not clearly known, further prospective studies with longitudinal design are needed to determine the association between HRV and the development of TOD

Study of tau Decays to Four-Hadron Final States with Kaons

The tau decays to four hadrons have been studied with the CLEO III detector at the Cornell Electron Storage Ring (CESR) using (7.56 +- 0.15) fb^{-1} of data collected near the Y(4S) resonance. We present the first statistically significant measurements of B(tau- -> K- pi+pi- pi0 nu, excluding K^0) = (7.4 +- 0.8 +- 1.1) x 10^{-4} and B(tau--> K- K+ pi- pi0 nu) = (5.5 +- 1.4 +- 1.2) x 10^{-5}, including the first observation of the decay, tau- -> K- omega nu, with branching fraction (4.1 +- 0.6 +- 0.7) x 10^{-4}. We also publish the first upper limit for B(tau- -> K- K+ K- pi0 nu) < 4.8 (6.1) x 10^{-6} at 90% (95%) confidence level (C.L.).Comment: 9 pages postscript, also available from http://www.lns.cornell.edu/public/CLNS/2004/, submitted to PR