Spatial representation for navigation in animats

This article considers the problem of spatial representation for animat navigation systems. It is proposed that the global navigation task, or "wayfinding, " is best supported by multiple interacting subsystems, each of which builds its own partial representation of relevant world knowledge. Evidence from the study of animal navigation is reviewed to demonstrate that similar principles underlie the wayfinding behavior of animals, including humans. A simulated wayfinding system is described that embodies and illustrates several of the themes identified with animat navigation. This system constructs a network of partial models of the quantitative spatial relations between groups of salient landmarks. Navigation tasks are solved by propagating egocentric view information through this network, using a simple but effective heuristic to arbitrate between multiple solutions

Saturn Atmospheric Structure and Dynamics

2 Saturn inhabits a dynamical regime of rapidly rotating, internally heated atmospheres similar to Jupiter. Zonal winds have remained fairly steady since the time of Voyager except in the equatorial zone and slightly stronger winds occur at deeper levels. Eddies supply energy to the jets at a rate somewhat less than on Jupiter and mix potential vorticity near westward jets. Convective clouds exist preferentially in cyclonic shear regions as on Jupiter but also near jets, including major outbreaks near 35°S associated with Saturn electrostatic discharges, and in sporadic giant equatorial storms perhaps generated from frequent events at depth. The implied meridional circulation at and below the visible cloud tops consists of upwelling (downwelling) at cyclonic (anti-cyclonic) shear latitudes. Thermal winds decay upward above the clouds, implying a reversal of the circulation there. Warm-core vortices with associated cyclonic circulations exist at both poles, including surrounding thick high clouds at the south pole. Disequilibrium gas concentrations in the tropical upper troposphere imply rising motion there. The radiative-convective boundary and tropopause occur at higher pressure in the southern (summer) hemisphere due to greater penetration of solar heating there. A temperature “knee ” of warm air below the tropopause, perhaps due to haze heating, is stronger in the summer hemisphere as well. Saturn’s south polar stratosphere is warmer than predicted by radiative models and enhanced in ethane, suggesting subsidence-driven adiabatic warming there. Recent modeling advances suggest that shallow weather laye

Intracolonic administration of zileuton, a selective 5-lipoxygenase inhibitor, accelerates healing in a rat model of chronic colitis

BACKGROUND: 5-Lipoxygenase products play a part in inflammatory response. AIMS: The effect of intracolonic administration of zileuton (a 5-lipoxygenase inhibitor) on colonic damage and eicosanoid local release was assessed in a rat model of colitis. METHODS: Ninety rats with trinitrobenzenesulphonic acid induced colitis were randomised to receive placebo, 5-aminosalicylic acid (50 mg/kg), or zileuton (50 mg/kg) intracolonically for four weeks. Local eicosanoid release was monitored by intracolonic dialysis throughout the study. The colon was removed for macroscopic and histological assessment at weeks 1, 2, and 4 after colitis induction in 10 rats of each group. RESULTS: Zileuton significantly reduced macroscopic damage score after four weeks of treatment in comparison with the other two groups (p = 0.034). In addition, zileuton administration significantly increased the intracolonic release of both thromboxane B2 at week 1 (p = 0.05) and prostaglandin E2 at weeks 2 and 4 (p < 0.05). Zileuton and 5-aminosalicylic acid decreased leukotriene B4 release by 90% at day 3. CONCLUSIONS: Intracolonic zileuton, compared with 5-aminosalicylic acid and placebo, seems to improve the course of the disease in a model of chronic colitis. This effect may be related to an increased and maintained production of prostaglandin E2 together with inhibition of leukotriene B4 synthesis

Pathogenesis of ascites and hepatorenal syndrome.

Ascites is one of the most common complications of cirrhosis and has a one year mortality of up to 50%. For fluid to accumulate in any clinical situation the amount of sodium ingested must exceed that excreted by the kidneys and the virtual absence of sodium from the urine of ascitic patients was first documented by Farnsworth and Krakusin in 1948. Five years later Chart and Shipley showed such patients to have an excess of a sodium retaining hormone in their urine (later identified as aldosterone). Four decades after these discoveries the inter-relationship between renal function, hormonal changes and ascites formation remains controversial. At the other extreme of functional renal changes up to 85% ofpatients dying with cirrhosis have renal failure and, where there is no apparent cause other than the liver disease, is termed 'hepatorenal syndrome. In 1863 Flint noted that proteinuria was uncommon and kidney morphology often normal, but some patients showed a variety of renal parenchymal changes Hecker and Sherlock confirmed the absence of proteinuria and normal histology in many patients and reported very low urine sodium concentrations - findings of a prerenal type of uraemi