Plan recognition for space telerobotics

Current research on space telerobots has largely focused on two problem areas: executing remotely controlled actions (the tele part of telerobotics) or planning to execute them (the robot part). This work has largely ignored one of the key aspects of telerobots: the interaction between the machine and its operator. For this interaction to be felicitous, the machine must successfully understand what the operator is trying to accomplish with particular remote-controlled actions. Only with the understanding of the operator's purpose for performing these actions can the robot intelligently assist the operator, perhaps by warning of possible errors or taking over part of the task. There is a need for such an understanding in the telerobotics domain and an intelligent interface being developed in the chemical process design domain addresses the same issues

Engineering intelligent tutoring systems

We have defined an object-oriented software architecture for Intelligent Tutoring Systems (ITS's) to facilitate the rapid development, testing, and fielding of ITS's. This software architecture partitions the functionality of the ITS into a collection of software components with well-defined interfaces and execution concept. The architecture was designed to isolate advanced technology components, partition domain dependencies, take advantage of the increased availability of commercial software packages, and reduce the risks involved in acquiring ITS's. A key component of the architecture, the Executive, is a publish and subscribe message handling component that coordinates all communication between ITS components

Applying Pressure Sensitive Paint Technology to Rotor Blades

This report will present details of a Pressure Sensitive Paint (PSP) system for measuring global surface pressures on rotorcrtaft blades in simulated forward flight at the 14- by 22-Foot Subsonic Tunnel at the NASA Langley Research Center. The basics of the PSP method will be discussed and the modifications that were needed to extend this technology for use on rotor blades. Results from a series of tests will also be presented as well as several areas of improvement that have been identified and are currently being developed for future testing

Enhanced biofilm and extracellular matrix production by chronic carriage versus acute isolates of Salmonella Typhi.

Salmonella Typhi is the primary causative agent of typhoid fever; an acute systemic infection that leads to chronic carriage in 3-5% of individuals. Chronic carriers are asymptomatic, difficult to treat and serve as reservoirs for typhoid outbreaks. Understanding the factors that contribute to chronic carriage is key to development of novel therapies to effectively resolve typhoid fever. Herein, although we observed no distinct clustering of chronic carriage isolates via phylogenetic analysis, we demonstrated that chronic isolates were phenotypically distinct from acute infection isolates. Chronic carriage isolates formed significantly thicker biofilms with greater biomass that correlated with significantly higher relative levels of extracellular DNA (eDNA) and DNABII proteins than biofilms formed by acute infection isolates. Importantly, extracellular DNABII proteins include integration host factor (IHF) and histone-like protein (HU) that are critical to the structural integrity of bacterial biofilms. In this study, we demonstrated that the biofilm formed by a chronic carriage isolate in vitro, was susceptible to disruption by a specific antibody against DNABII proteins, a successful first step in the development of a therapeutic to resolve chronic carriage

Deployment of a Pressure Sensitive Paint System for Measuring Global Surface Pressures on Rotorcraft Blades in Simulated Forward Flight

This paper will present details of a Pressure Sensitive Paint (PSP) system for measuring global surface pressures on the tips of rotorcraft blades in simulated forward flight at the 14- x 22-Foot Subsonic Tunnel at the NASA Langley Research Center. The system was designed to use a pulsed laser as an excitation source and PSP data was collected using the lifetime-based approach. With the higher intensity of the laser, this allowed PSP images to be acquired during a single laser pulse, resulting in the collection of crisp images that can be used to determine blade pressure at a specific instant in time. This is extremely important in rotorcraft applications as the blades experience dramatically different flow fields depending on their position in the rotor disk. Testing of the system was performed using the U.S. Army General Rotor Model System equipped with four identical blades. Two of the blades were instrumented with pressure transducers to allow for comparison of the results obtained from the PSP. Preliminary results show that the PSP agrees both qualitatively and quantitatively with both the expected results as well as with the pressure taps. Several areas of improvement have been indentified and are currently being developed

Quasi-continuous atom laser in the presence of gravity

We analyse the extraction of a coherent atomic beam from a trapped Bose-Einstein condensate using a rf transition to a non-trapping state at T=0 K. Our quantum treatment fully takes gravity into account but neglects all interactions in the free falling beam. We obtain an analytical expression of the output rate and of the wave function of the extracted beam, i.e. the output mode of the ``atom laser''. Our model reproduces satisfactorily experimental data without any adjustable parameter.Comment: 4 pages, 2 figure

Multivariate regression methods for estimating velocity of ictal discharges from human microelectrode recordings

Objective. Epileptiform discharges, an electrophysiological hallmark of seizures, can propagate across cortical tissue in a manner similar to traveling waves. Recent work has focused attention on the origination and propagation patterns of these discharges, yielding important clues to their source location and mechanism of travel. However, systematic studies of methods for measuring propagation are lacking. Approach. We analyzed epileptiform discharges in microelectrode array recordings of human seizures. The array records multiunit activity and local field potentials at 400-micron spatial resolution, from a small cortical site free of obstructions. We evaluated several computationally efficient statistical methods for calculating traveling wave velocity, benchmarking them to analyses of associated neuronal burst firing. Main results. Over 90% of discharges met statistical criteria for propagation across the sampled cortical territory. Detection rate, direction and speed estimates derived from a multiunit estimator were compared to four field potential-based estimators: negative peak, maximum descent, high gamma power, and cross-correlation. Interestingly, the methods that were computationally simplest and most efficient (negative peak and maximal descent) offer non-inferior results in predicting neuronal traveling wave velocities compared to the other two, more complex methods. Moreover, the negative peak and maximal descent methods proved to be more robust against reduced spatial sampling challenges. Using least absolute deviation in place of least squares error minimized the impact of outliers, and reduced the discrepancies between local field potential-based and multiunit estimators. Significance. Our findings suggest that ictal epileptiform discharges typically take the form of exceptionally strong, rapidly traveling waves, with propagation detectable across millimeter distances. The sequential activation of neurons in space can be inferred from clinically-observable EEG data, with a variety of straightforward computation methods available. This opens possibilities for systematic assessments of ictal discharge propagation in clinical and research settings

Near Resonant Spatial Images of Confined Bose-Einstein Condensates in the '4D' Magnetic Bottle

We present quantitative measurements of the spatial density profile of Bose-Einstein condensates of sodium atoms confined in a new '4D' magnetic bottle. The condensates are imaged in transmission with near resonant laser light. We demonstrate that the Thomas-Fermi surface of a condensate can be determined to better than 1%. More generally, we obtain excellent agreement with mean-field theory. We conclude that precision measurements of atomic scattering lengths and interactions between phase separated cold atoms in a harmonic trap can be measured with high precision using this method.Comment: 15 pages, 3 figures. Submitted 10/30/97, accepted for publication in Phys. Rev. A Rapid Com

Taking stock: protocol for evaluating a family planning supply chain intervention in Senegal.

BACKGROUND: In Senegal, only 12% of women of reproductive age in union (WRAU) were using contraceptives and another 29% had an unmet need for contraceptives in 2010-11. One potential barrier to accessing contraceptives is the lack of stock availability in health facilities where women seek them. Multiple supply chain interventions have been piloted in low- and middle-income countries with the aim of improving contraceptive availability in health facilities. However, there is limited evidence on the effect of these interventions on contraceptive availability in facilities, and in turn on family planning use in the population. This evaluation protocol pertains to a supply chain intervention using performance-based contracting for contraceptive distribution that was introduced throughout Senegal between 2012 and 2015. METHODS: This multi-disciplinary research project will include quantitative, qualitative and economic evaluations. Trained researchers in the different disciplines will implement the studies separately but alongside each other, sharing findings throughout the project to inform each other's data collection. A non-randomised study with stepped-wedge design will be used to estimate the effect of the intervention on contraceptive stock availability in health facilities, and on the modern contraceptive prevalence rate among women in Senegal, compared to the current pull-based distribution model used for other commodities. Secondary data from annual Service Provision Assessments and Demographic and Health Surveys will be used for this study. Data on stock availability and monthly family planning consultations over a 4-year period will be collected from 200 health facilities in five regions to perform time series analyses. A process evaluation will be conducted to understand the extent to which the intervention was implemented as originally designed, the acceptability of third-party logisticians within the health system and potential unintended consequences. These will be assessed using monthly indicator data from the implementer and multiple ethnographic methods, including in-depth interviews with key informants and stakeholders at all levels of the distribution system, observations of third-party logisticians and clinic diaries. An economic evaluation will estimate the cost of the intervention, as well as its cost-effectiveness compared to the current supply chain model. DISCUSSION: Given the very limited evidence base, there is an important need for a comprehensive standardised approach to evaluating supply chain management, and distribution specifically. This evaluation will help address this evidence gap by providing rigorous evidence on whether private performance-based contracting for distribution of contraceptives can contribute to improving access to family planning in low- and middle-income countries