Unified Behavior Framework in an Embedded Robot Controller

Robots of varying autonomy have been used to take the place of humans in dangerous tasks. While robots are considered more expendable than human beings, they are complex to develop and expensive to replace if lost. Recent technological advances produce small, inexpensive hardware platforms that are powerful enough to match robots from just a few years ago. There are many types of autonomous control architecture that can be used to control these hardware platforms. One in particular, the Unified Behavior Framework, is a flexible, responsive control architecture that is designed to simplify the control system’s design process through behavior module reuse, and provides a means to speed software development. However, it has not been applied on embedded systems in robots. This thesis presents a development of the Unified Behavior Framework on the Mini-WHEGS™, a biologically inspired, embedded robotic platform. The Mini-WHEGS™ is a small robot that utilize wheel- legs to emulate cockroach walking patterns. Wheel-legs combine wheels and legs for high mobility without the complex control system required for legs. A color camera and a rotary encoder completes the robot, enabling the Mini-WHEGS™ to identify color objects and track its position. A hardware abstraction layer designed for the Mini-WHEGS™ in this configuration decouples the control system from the hardware and provide the interface between the software and the hardware. The result is a highly mobile embedded robot system capable of exchanging behavior modules with much larger robots while requiring little or no change to the modules

Ejection of Supernova-Enriched Gas From Dwarf Disk Galaxies

We examine the efficiency with which supernova-enriched gas may be ejected from dwarf disk galaxies, using a methodology previously employed to study the self-enrichment efficiency of dwarf spheroidal systems. Unlike previous studies that focused on highly concentrated starbursts, in the current work we consider discrete supernova events spread throughout various fractions of the disk. We model disk systems having gas masses of 10^8 and 10^9 solar masses with supernova rates of 30, 300, and 3000 per Myr. The supernova events are confined to the midplane of the disk, but distributed over radii of 0, 30, and 80% of the disk radius, consistent with expectations for Type II supernovae. In agreement with earlier studies, we find that the enriched material from supernovae is largely lost when the supernovae are concentrated near the nucleus, as expected for a starburst event. In contrast, however, we find the loss of enriched material to be much less efficient when the supernovae occur over even a relatively small fraction of the disk. The difference is due to the ability of the system to relax following supernova events that occur over more extended regions. Larger physical separations also reduce the likelihood of supernovae going off within low-density "chimneys" swept out by previous supernovae. We also find that, for the most distributed systems, significant metal loss is more likely to be accompanied by significant mass loss. A comparison with theoretical predications indicates that, when undergoing self-regulated star formation, galaxies in the mass range considered shall efficiently retain the products of Type II supernovae.Comment: 16 pages, 14 figures, to appear in Astrophysical Journal; higher resolution figures available through Ap

An Ultrasoft X-ray Flare from 3XMM J152130.7+074916: a Tidal Disruption Event Candidate

We report on the discovery of an ultrasoft X-ray transient source, 3XMM J152130.7+074916. It was serendipitously detected in an XMM-Newton observation on 2000 August 23, and its location is consistent with the center of the galaxy SDSS J152130.72+074916.5 (z=0.17901 and d_L=866 Mpc). The high-quality X-ray spectrum can be fitted with a thermal disk with an apparent inner disk temperature of 0.17 keV and a rest-frame 0.24-11.8 keV unabsorbed luminosity of ~5e43 erg/s, subject to a fast-moving warm absorber. Short-term variability was also clearly observed, with the spectrum being softer at lower flux. The source was covered but not detected in a Chandra observation on 2000 April 3, a Swift observation on 2005 September 10, and a second XMM-Newton observation on 2014 January 19, implying a large variability (>260) of the X-ray flux. The optical spectrum of the candidate host galaxy, taken ~11 yrs after the XMM-Newton detection, shows no sign of nuclear activity. This, combined with its transient and ultrasoft properties, leads us to explain the source as tidal disruption of a star by the supermassive black hole in the galactic center. We attribute the fast-moving warm absorber detected in the first XMM-Newton observation to the super-Eddington outflow associated with the event and the short-term variability to a disk instability that caused fast change of the inner disk radius at a constant mass accretion rate.Comment: 9 pages, 5 figures. ApJ, in pres

Roche Lobe Overflow from Dwarf Stellar Systems

We use both analytical analyses and numerical simulations to examine the evolution of residual gas within tidally-limited dwarf galaxies and globular clusters. If the gas sound speed exceeds about 10% of the central velocity dispersion, as is the case for ionized gas within small stellar systems, the gas shall have significant density at the tidal radius, and the gas may be lost on timescales as short as a few times the sound crossing time of the system. In colder systems, the density at the tidal radius is much lower, greatly reducing the mass loss rate, and the system may retain its gas for a Hubble time. The tidally removed gas shall follow an orbit close to that of the original host system, forming an extended stream of ionized, gaseous debris. Tidal mass loss severely limits the ability of dwarf systems to continuously form stars. The ordinary gas content in many dwarf galaxies is fully ionized during high red-shift epochs, possibly preventing star formation in some systems, leading to the formation of starless, dark-matter concentrations. In either the field or in the center of galaxy clusters, ionized gas may be retained by dwarf galaxies, even though its sound speed may be comparable to or even exceed the velocity dispersion. These processes may help to explain some observed differences among dwarf galaxy types, as well as observations of the haloes of massive galaxies.Comment: 28 pages, LaTeX, AASTex macro

Receiver Function and Gravity Constraints on Crustal Structure and Vertical Movements of the Upper Mississippi Embayment and Ozark Uplift

The Upper Mississippi Embayment (UME), where the seismically active New Madrid Seismic Zone resides, experienced two phases of subsidence commencing in the Late Precambrian and Cretaceous, respectively. To provide new constraints on models proposed for the mechanisms responsible for the subsidence, we computed and stacked P-to-S receiver functions recorded by 49 USArray and other seismic stations located in the UME and the adjacent Ozark Uplift and modeled Bouguer gravity anomaly data. The inferred thickness, density, and Vp/Vs of the upper and lower crustal layers suggest that the UME is characterized by a mafic and high-density upper crustal layer of ~30 km thickness, which is underlain by a higher-density lower crustal layer of up to ~15 km. Those measurements, in the background of previously published geological observations on the subsidence and uplift history of the UME, are in agreement with the model that the Cretaceous subsidence, which was suggested to be preceded by an approximately 2 km uplift, was the consequence of the passage of a previously proposed thermal plume. The thermoelastic effects of the plume would have induced wide-spread intrusion of mafic mantle material into the weak UME crust fractured by Precambrian rifting and increased its density, resulting in renewed subsidence after the thermal source was removed. In contrast, the Ozark Uplift has crustal density, thickness, and Vp/Vs measurements that are comparable to those observed on cratonic areas, suggesting an overall normal crust without significant modification by the proposed plume, probably owing to the relatively strong and thick lithosphere

Vertical Heating Structures Associated with the MJO as Characterized by TRMM Estimates, ECMWF Reanalyses, and Forecasts: A Case Study during 1998/99 Winter

The Madden–Julian oscillation (MJO) is a fundamental mode of the tropical atmosphere variability that exerts significant influence on global climate and weather systems. Current global circulation models, unfortunately, are incapable of robustly representing this form of variability. Meanwhile, a well-accepted and comprehensive theory for the MJO is still elusive. To help address this challenge, recent emphasis has been placed on characterizing the vertical structures of the MJO. In this study, the authors analyze vertical heating structures by utilizing recently updated heating estimates based on the Tropical Rainfall Measuring Mission (TRMM) from two different latent heating estimates and one radiative heating estimate. Heating structures from two different versions of the European Centre for Medium-Range Weather Forecasts (ECMWF) reanalyses/forecasts are also examined. Because of the limited period of available datasets at the time of this study, the authors focus on the winter season from October 1998 to March 1999. The results suggest that diabatic heating associated with the MJO convection in the ECMWF outputs exhibits much stronger amplitude and deeper structures than that in the TRMM estimates over the equatorial eastern Indian Ocean and western Pacific. Further analysis illustrates that this difference might be due to stronger convective and weaker stratiform components in the ECMWF estimates relative to the TRMM estimates, with the latter suggesting a comparable contribution by the stratiform and convective counterparts in contributing to the total rain rate. Based on the TRMM estimates, it is also illustrated that the stratiform fraction of total rain rate varies with the evolution of the MJO. Stratiform rain ratio over the Indian Ocean is found to be 5% above (below) average for the disturbed (suppressed) phase of the MJO. The results are discussed with respect to whether these heating estimates provide enough convergent information to have implications on theories of the MJO and whether they can help validate global weather and climate models

Olfactory groove meningioma: Discussion of clinical presentation and surgical outcomes following excision via the subcranial approach

Objectives/Hypothesis: To describe surgical outcomes and radiographic features of olfactory groove meningiomas treated by excision through the subcranial approach. Special emphasis is placed on paranasal sinus and orbit involvement. Study Design: Retrospective review of a series of patients. Methods: Nineteen patients underwent excision of olfactory groove meningioma (OGM) via the transglabellar/subcranial approach between December 1995 and November 2009. Nine patients had previously undergone prior resection at outside institutions, and four had prior radiotherapy in addition to a prior excision. Transglabellar/subcranial surgical approach to the anterior skull base was performed. Results: Tumor histology included three World Health Organization (WHO) grade III lesions, one WHO grade II lesion, and 15 WHO grade I lesions. Fourteen patients had evidence of extension into the paranasal sinuses, with the ethmoid sinus being most commonly involved. Kaplan‐Meier estimates of mean overall and disease‐free survival were 121.45 months and 93.03 months, respectively. The mean follow‐up interval was 41.0 months, and at the time of data analysis three patients had recurrent tumors. Seven (36.8%) patients experienced a major complication in the perioperative period; there were no perioperative mortalities. Orbit invasion was observed in four patients, with optic nerve impingement in 11 patients. Of these, three patients had long‐term diplopia. No patients experienced worsening of preoperative visual acuity. Conclusions: Olfactory groove meningiomas demonstrate a propensity to spread into the paranasal sinuses, particularly in recurrent cases. Given a tendency for infiltrative recurrence along the skull base, this disease represents an important area of collaboration between neurosurgery and otolaryngology. The subcranial approach offers excellent surgical access for excision, particularly for recurrences that involve the paranasal sinuses and optic apparatus.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/87044/1/22174_ftp.pd

Mulsemedia: State of the art, perspectives, and challenges

Mulsemedia-multiple sensorial media-captures a wide variety of research efforts and applications. This article presents a historic perspective on mulsemedia work and reviews current developments in the area. These take place across the traditional multimedia spectrum-from virtual reality applications to computer games-as well as efforts in the arts, gastronomy, and therapy, to mention a few. We also describe standardization efforts, via the MPEG-V standard, and identify future developments and exciting challenges the community needs to overcome

The economic impact of chronic fatigue syndrome in Georgia: direct and indirect costs

<p>Abstract</p> <p>Background</p> <p>Chronic fatigue syndrome (CFS) is a debilitating chronic illness affecting at least 4 million people in the United States. Understanding its cost improves decisions regarding resource allocation that may be directed towards treatment and cure, and guides the evaluation of clinical and community interventions designed to reduce the burden of disease.</p> <p>Methods</p> <p>This research estimated direct and indirect costs of CFS and the impact on educational attainment using a population-based, case-control study between September 2004 and July 2005, Georgia, USA. Participants completed a clinical evaluation to confirm CFS, identify other illnesses, and report on socioeconomic factors. We estimated the effect of CFS on direct medical costs (inpatient hospitalizations, provider visits, prescription medication spending, other medical supplies and services) and loss in productivity (employment and earnings) with a stratified sample (n = 500) from metropolitan, urban, and rural Georgia. We adjusted medical costs and earnings for confounders (age, sex, race/ethnicity, education, and geographic strata) using econometric models and weighted estimates to reflect response-rate adjusted sampling rates.</p> <p>Results</p> <p>Individuals with CFS had mean annual direct medical costs of $5,683. After adjusting for confounding factors, CFS accounted for$3,286 of these costs (p < 0.01), which were driven by increased provider visits and prescription medication use. Nearly one-quarter of these expenses were paid directly out-of pocket by those with CFS. Individuals with CFS reported mean annual household income of $23,076. After adjustment, CFS accounted for$8,554 annually in lost household earnings (p < 0.01). Lower educational attainment accounted for 19% of the reduction in earnings associated with CFS.</p> <p>Conclusions</p> <p>Study results indicate that chronic fatigue syndrome may lead to substantial increases in healthcare costs and decreases in individual earnings. Studies have estimated up to 2.5% of non-elderly adults may suffer from CFS. In Georgia, a state with roughly 5.5 million people age 18-59, illness could account for $452 million in total healthcare expenditures and$1.2 billion of lost productivity.</p