A Factorization Algorithm for G-Algebras and Applications

It has been recently discovered by Bell, Heinle and Levandovskyy that a large class of algebras, including the ubiquitous $G$-algebras, are finite factorization domains (FFD for short). Utilizing this result, we contribute an algorithm to find all distinct factorizations of a given element $f \in \mathcal{G}$, where $\mathcal{G}$ is any $G$-algebra, with minor assumptions on the underlying field. Moreover, the property of being an FFD, in combination with the factorization algorithm, enables us to propose an analogous description of the factorized Gr\"obner basis algorithm for $G$-algebras. This algorithm is useful for various applications, e.g. in analysis of solution spaces of systems of linear partial functional equations with polynomial coefficients, coming from $\mathcal{G}$. Additionally, it is possible to include inequality constraints for ideals in the input

Modeling and control of UAV bearing formations with bilateral high-level steering

In this paper we address the problem of controlling the motion of a group of unmanned aerial vehicles (UAVs) bound to keep a formation defined in terms of only relative angles (i.e. a bearing formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g. exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information.The controller still leaves the possibility of imposing group motions tangent to the current bearing formation. These can be either autonomously chosen by the robots because of any additional task (e.g. exploration), or exploited by an assisting human co-operator. For this latter 'human-in-the-loop' case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g. limited field-of-view, are also considered. © The Author(s) 2012

Lebensqualität und alexithyme Merkmale bei Patienten mit somatoformer Schmerzstörung

Zusammenfassung: Hintergrund: Patienten mit einer somatoformen Schmerzstörung weisen häufig eine schlechte gesundheitsbezogene Lebensqualität (QoL) und Schwierigkeiten in der Affektregulation (Alexithymie) auf. Ziel dieser Studie war es, den Zusammenhang zwischen QoL und alexithymen Merkmalen zu untersuchen. Patienten und Methoden: Bei 51Patienten mit somatoformer Schmerzstörung (durchschnittliche Erkrankungsdauer: 11,6Jahre) wurden Alexithymie (TAS-20), QoL (WHOQOL-BREF), psychische Belastung und Somatisierung (SCL-90-R) und depressive Symptome (MADRS) erhoben. Ergebnisse: Es fand sich eine signifikante negative Korrelation zwischen QoL und alexithymen Persönlichkeitsmerkmalen, insbesondere der psychischen QoL und dem TAS-20-Gesamtwert (r=−0,63, p<0,001). Die Alexithymiesubskala "Schwierigkeiten, Gefühle zu beschreiben" erwies sich als signifikanter Einflussfaktor für die psychische QoL (β=−0,34, p<0,01), auch nach Kontrolle von Depression, Somatisierung und Geschlecht. Schlussfolgerung: Für die insgesamt sehr niedrige QoL von Patienten mit somatoformer Schmerzstörung scheinen auch alexithyme Charakteristika eine wichtige Rolle zu spielen. Dies sollte sowohl diagnostisch als auch in der therapeutischen Zielsetzung berücksichtigt werde

Chinese L2 learners’ depth of vocabulary knowledge and its role in reading comprehension

This is the author accepted manuscript. The final version is available from the publisher via the DOI in this record.Using a Chinese Word Associates Test (WAT-C), this study examined the vocabulary depth of second language learners of Chinese and its contribution to the learners’ reading comprehension. Results showed no significant effects of word frequency, word class (i.e., adjectives vs. verbs), and type of association relationships (i.e., paradigmatic vs. syntagmatic) on learners’ WAT-C performance. More important, vocabulary depth was found to be a significant and unique predictor of reading comprehension over and above vocabulary size. On the other hand, the relative contributions of vocabulary depth and size depended on what types of texts were read and what comprehension skills were assessed. Specifically, for the long passage comprehension task with questions testing literal comprehension, vocabulary size was a more important predictor, whereas for the short passage comprehension task with questions testing inferencing, vocabulary depth was a more important predictor. These findings were discussed in light of the different levels of lexical complexity between the short and long passages and the different cognitive processing demands the questions of the two comprehension tasks placed on learners

A Comparison of Scale Estimation Schemes for a Quadrotor UAV based on Optical Flow and IMU Measurements

International audienceFor the purpose of autonomous UAV flight control, cameras are ubiquitously exploited as a cheap and effective onboard sensor for obtaining non-metric position or velocity measurements. Since the metric scale cannot be directly re- covered from visual input only, several methods have been proposed in the recent literature to overcome this limitation by exploiting independent "metric" information from additional onboard sensors. The flexibility of most approaches is, however, often limited by the need of constantly tracking over time a certain set of features in the environment, thus potentially suffering from possible occlusions or loss of tracking during flight. In this respect, in this paper we address the problem of estimating the scale of the observed linear velocity in the UAV body frame from direct measurement of the instantaneous (and non-metric) optical flow, and the integration of an on- board Inertial Measurement Unit (IMU) for providing (metric) acceleration readings. To this end, two different estimation techniques are developed and critically compared: a standard Extended Kalman Filter (EKF) and a novel nonlinear observer stemming from the adaptive control literature. Results based on simulated and real data recorded during a quadrotor UAV flight demonstrate the effectiveness of the approach

A telephone- and text-message based telemedical care concept for patients with mental health disorders - study protocol for a randomized, controlled study design

<p>Abstract</p> <p>Background</p> <p>As in other countries worldwide, the prevalence of mental disorders in Germany is high. Although numerically a dense network of in- and outpatient psychiatric health services exists, the availability in rural and remote regions is insufficient.</p> <p>In rural regions, telemedical concepts can be a chance to unburden and complement the existing healthcare system. Telemedical concepts consisting of video or telephone consulting show first positive results, but there are only a few studies with a randomized controlled design.</p> <p>To improve the treatment of patients with mental disorders in rural regions, we developed a telemedical care concept based on telephone contacts and text-messages. The primary objective of this study is to evaluate the effects of the telemedical interventions on psychopathological outcomes, e. g. anxiety, depressive symptoms, and somatisation. Secondary objective of the study is the analysis of intervention effects on the frequency of medical contacts with healthcare services. Furthermore, the frequency of patients' crises and the frequency and kind of interventions, initiated by the project nurses will be evaluated. We will also evaluate the acceptance of the telemedical care concept by the patients.</p> <p>Methods/Design</p> <p>In this paper we describe a three-armed, randomized, controlled study. All participants are recruited from psychiatric day hospitals. The inclusion criteria are a specialist-diagnosed depression, anxiety disorder, adjustment disorder or a somatoform disorder and eligibility to participate in the study. Exclusion criteria are ongoing outpatient psychotherapy, planned interval treatment at the day clinic and expected recurrent suicidality and self-injuring behaviour.</p> <p>The interventions consist of regular patient-individual telephone consultations or telephone consultations with complementing text-messages on the patients' mobile phone. The interventions will be conducted during a time period of 6 months.</p> <p>Trial registration</p> <p>This study is registered in the German Clinical Trials Register (DRKS00000662).</p

De novo design of a transmembrane Zn²⁺-transporting four-helix bundle.

The design of functional membrane proteins from first principles represents a grand challenge in chemistry and structural biology. Here, we report the design of a membrane-spanning, four-helical bundle that transports first-row transition metal ions Zn(2+) and Co(2+), but not Ca(2+), across membranes. The conduction path was designed to contain two di-metal binding sites that bind with negative cooperativity. X-ray crystallography and solid-state and solution nuclear magnetic resonance indicate that the overall helical bundle is formed from two tightly interacting pairs of helices, which form individual domains that interact weakly along a more dynamic interface. Vesicle flux experiments show that as Zn(2+) ions diffuse down their concentration gradients, protons are antiported. These experiments illustrate the feasibility of designing membrane proteins with predefined structural and dynamic properties

Rhythm in the speech of a person with right hemisphere damage: Applying the pairwise variability index

Although several aspects of prosody have been studied in speakers with right hemisphere damage (RHD), rhythm remains largely uninvestigated. This study compares the rhythm of an Australian English speaker with right hemisphere damage (due to a stroke, but with no concomitant dysarthria) to that of a neurologically unimpaired individual. The speakers' rhythm is compared using the pairwise variability index (PVI) which allows for an acoustic characterization of rhythm by comparing the duration of successive vocalic and intervocalic intervals. A sample of speech from a structured interview between a speech and language therapist and each participant was analysed. Previous research has shown that speakers with RHD may have difficulties with intonation production, and therefore it was hypothesized that there may also be rhythmic disturbance. Results show that the neurologically normal control uses a similar rhythm to that reported for British English (there are no previous studies available for Australian English), whilst the speaker with RHD produces speech with a less strongly stress-timed rhythm. This finding was statistically significant for the intervocalic intervals measured (t(8) = 4.7, p < .01), and suggests that some aspects of prosody may be right lateralized for this speaker. The findings are discussed in relation to previous findings of dysprosody in RHD populations, and in relation to syllable-timed speech of people with other neurological conditions

The Composition of the Modernist Book: Ulysses, A Draft of XXX Cantos and The Making of Americans.

This is a study of the composition of three Modernist first editions: Ulysses (1922), The Making of Americans (1925) and A Draft of XXX Cantos (1930). The bibliographical and figurative commitments made to being in print by Ulysses, A Draft of XXX Cantos and The Making of Americans set a coherent program for reading Modernist texts in their perfected form: in print. The editorial reception of the Modernist book has proceeded, however, with reference to the editorial and bibliographical principles established by the New Bibliographers. In deferring to the authors and manuscripts of Modernist books as the highest source of textual authority, the vital significance of being in print to literary Modernism is obscured. The figure of the ideal Book concentrates the central aesthetic, intellectual and bibliographic problem posed the Modernist book: the making of literature. The rhyme with The Making of Americans is appropriate: this book intensifies and consolidates the propositions made about objective and autonomous composition made more hesitantly by Ulysses and A Draft of XXX Cantos. These three books display a gradual refusal to equate inscription and intention; their composition effaces all traces of a sovereign creative subjectivity. The vision of the book guides Modernist composition, and requires a critical distinction be drawn between manuscripts and printed letters. Modernism must be read in print. The vestigial nostalgia for Romantic modes of textual production and creation in Ulysses is repeated on the placards and proof-pages for the book. Printed drafts are revised and reformed by the pen of the author. The finality asserted by the printed letter is only reluctantly ceded on the publication of Ulysses. The composition of A Draft of XXX Cantos represents a further transition away from the script economy of Romanticism. The interplay between authorial typescripts, early publications and the first edition of A Draft of XXX Cantos assert an intermediate order of Modernist textuality which takes the printed page as its foundation. The Making of Americans relies on the absolute objectivity and anonymity of its composition for the effect of its narrative. Objectivity is the intellectual and aesthetic strategy which produces literature rather than the personality and memory of the author. The impersonality of the apparently automatically written manuscripts and scarcely revised typescripts for The Making of Americans severs the visible links between the writing author and her page. In their unwillingness to corroborate the modes of textual generation described by the New Bibliographers, these three books thematise their own composition as the exemplary Modernist and modern mode of textual generation. The Modernist book attenuates or denies a Romantic connection between the creative hand of the author and the surface image of the page: the mechanisms of print deliberately detach the author from the literary text. The distance of the author from the scene of textual reproduction is measured by the printed book. The composition of this analytical object is not a fallacy but an actuality, commemorated in the archive, enacted by the book. Modernism is the literature of the imprimatur rather than of authorial inscription and accordingly it is towards the first editions of Modernist texts that the attentions of editors and textual scholars must be directed

Speech rhythm: a metaphor?

Is speech rhythmic? In the absence of evidence for a traditional view that languages strive to coordinate either syllables or stress-feet with regular time intervals, we consider the alternative that languages exhibit contrastive rhythm subsisting merely in the alternation of stronger and weaker elements. This is initially plausible, particularly for languages with a steep ‘prominence gradient’, i.e. a large disparity between stronger and weaker elements; but we point out that alternation is poorly achieved even by a ‘stress-timed’ language such as English, and, historically, languages have conspicuously failed to adopt simple phonological remedies that would ensure alternation. Languages seem more concerned to allow ‘syntagmatic contrast’ between successive units and to use durational effects to support linguistic functions than to facilitate rhythm. Furthermore, some languages (e.g. Tamil, Korean) lack the lexical prominence which would most straightforwardly underpin prominence alternation. We conclude that speech is not incontestibly rhythmic, and may even be antirhythmic. However, its linguistic structure and patterning allow the metaphorical extension of rhythm in varying degrees and in different ways depending on the language, and that it is this analogical process which allows speech to be matched to external rhythms