Michigan… The Life of the Law

The physical plant of the University of Michigan Law School is probably more closely associated with one individual than any other legal institution in the world. This completely organized and equipped unit for the teaching and training of students and lawyers for the practice of law and research in legal science was donated to the University of Michigan by William W. Cook, an 1882 graduate. Among his several benefactions to the University, Mr. Cook provided funds to endow the William W. Cook Lectureship on American Institutions, which is devoted to the dissemination of sound principles concerning the basic concepts of American life

A randomized clinical trial comparing family-focused treatment and individual supportive therapy for depression in childhood and early adolescence

OBJECTIVE: Despite the morbidity and negative outcomes associated with early-onset depression, few studies have examined the efficacy of psychosocial treatment for depressive disorders during childhood. Integrating family in treatment could have particularly salutary effects during this developmental period. This trial compared immediate posttreatment effects of family-focused treatment for childhood depression (FFT-CD) with those of individual supportive psychotherapy (IP) for children 7 to 14 years old with depressive disorders. METHOD: Children were randomized to 15 sessions of FFT-CD (n = 67) or IP (n = 67) over 4 months. The primary treatment outcome was adequate clinical depression response, defined as at least a 50% decrease in score on the Children's Depression Rating Scale-Revised (CDRS-R). Additional outcomes included patient-centered outcomes (parent- and child-reported treatment satisfaction), remission (defined as CDRS-R score ≤28), change in continuous CDRS-R score, and change in child and parent reports of depressive and non-depressive symptoms and social adjustment. RESULTS: Significant improvement was evident across groups for depressive and non-depressive symptoms, global response, and functioning and social adjustment. Compared with children randomized to IP, children randomized to FFT-CD showed higher rates of adequate clinical depression response (77.7% versus 59.9%; number needed to treat = 5.72; odds ratio 2.29; 95% CI 1.001-5.247; t = 1.97, p = .0498). Across treatments, families reported high satisfaction; compared with IP families, FFT-CD families reported greater knowledge and skills for managing depression. There were no significant differences between treatment arms on secondary outcomes. CONCLUSION: Results support the value of psychosocial intervention, emphasize the important role that families play, and highlight the potential for FFT-CD for supporting recovery in children with depression. Clinical trial registration information-Systems of Support Study for Childhood Depression; http://clinicaltrials.gov; NCT01159041.R01 MH082856 - NIMH NIH HHS; R01 MH082861 - NIMH NIH HH

Control of Cooperating Mobile Manipulators

We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation and transporting large and possibly flexible objects without special purpose fixtures. Because each robot has an independent controller and is autonomous, the coordination and synergy are realized through sensing and communication. The robots can cooperatively transport objects and march in a tightly controlled formation, while also having the capability to navigate autonomously. We describe the key aspects of the overall hierarchy and the basic algorithms, with specific applications to our experimental testbed consisting of three robots. We describe results from many experiments that demonstrate the ability of the system to carry flexible boards and large boxes as well as the system’s robustness to alignment and odometry errors

Design and Control of a Compliant Parallel Manipulator

We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm

New Fe II energy levels from stellar spectra

The spectra of B-type and early A-type stars show numerous unidentified lines in the whole optical range, especially in the 5100 - 5400 A interval. Because Fe II transitions to high energy levels should be observed in this region, we used semiempirical predicted wavelengths and gf-values of Fe II to identify unknown lines. Semiempirical line data for Fe II computed by Kurucz are used to synthesize the spectrum of the slow-rotating, Fe-overabundant CP star HR 6000. We determined a total of 109 new 4f levels for Fe II with energies ranging from 122324 cm^-1 to 128110 cm^-1. They belong to the Fe II subconfigurations 3d^6(^3P)4f (10 levels), 3d^6(^3H)4f (36 levels), 3d^6(^3F)4f (37 levels), and 3d^6(^3G)4f (26 levels). We also found 14 even levels from 4d (3 levels), 5d (7 levels), and 6d (4 levels) configurations. The new levels have allowed us to identify more than 50% of the previously unidentified lines of HR 6000 in the wavelength region 3800-8000 A. Tables listing the new energy levels are given in the paper; tables listing the spectral lines with loggf>/=-1.5 that are transitions to the 4f energy levels are given in the Online Material. These new levels produce 18000 lines throughout the spectrum from the ultraviolet to the infrared.Comment: Paper accepted by A&A for publicatio