bluuebunny/crossref_metadata_2025 huggingface dataset:
Reporting and Interpreting Research in PSPB: Practices, Principles, and Pragmatics
Authors: Kashy Deborah A. , Donnellan M. Brent , Ackerman Robert A. , Russell Daniel W.
Published: May 2009

This article is designed to provide psychologists who publish articles in Personality and Social Psychology Bulletin (PSPB ) with a set of basic issues to consider when reporting their analyses and results. We first assessed the current reporting practices of social and personality psychologists by conducting an analysis of PSPB articles published in the first half of 2007. We evaluated the completeness of these reports with respect to the level of detail in both the Method and Results sections. We then used this information to develop recommendations that we hope will enhance the reporting of quantitative research in social and personality psychology. These suggestions emphasize ways to increase transparency in research reports. Transparency facilitates replication and a critical evaluation of research, thereby promoting scientific progress.
Translation disambiguation for cross-language information retrieval using context-based translation probability
Authors: Kishida Kazuaki , Ishita Emi
Published: May 2009

Disambiguation between multiple translation choices is very important in dictionary-based cross-language information retrieval. In prior work, disambiguation techniques have used term co-occurrence statistics from the collection being searched. Experimentally these techniques have worked well but are based upon heuristic assumptions. In this paper, a theoretically grounded alternative is proposed, one which uses sense disambiguation based upon context terms within the source text. Specifically this paper introduces the concept of translation probabilities incorporating a context term and extends the IBM Model 1 for estimating context-based translation probabilities from a sentence-aligned bilingual corpus. Experimental results in English to Italian bilingual searches show significant performance improvement of the context-based translation probabilities over the case without any disambiguation.
Mining sequential patterns in the B2B environment
Authors: Hu Ya-Han , Chen Yen-Liang , Tang Kwei
Published: May 2009

Sequential pattern mining is a powerful data mining technique for finding time-related behaviour in sequence databases. In this paper, we focus on mining sequential patterns in the business-to-business (B2B) environment. Because customers’ sequences in the B2B environment are very long, and almost all items are frequently purchased by all customers, using traditional methods may result in a large number of uninteresting and meaningless patterns and a long computational time. To solve these problems, we introduce three conditions (constraints) — compactness, repetition, and recency — and consider them jointly with frequency in selecting sequential patterns. An efficient algorithm is developed to discover frequent sequential patterns which satisfy the conditions. Empirical results show that the proposed method is computationally efficient and effective in extracting useful sequential patterns in the B2B environment.
Disciplinary differences in the use of internet discussion groups: differential communication needs or trust problems?
Authors: Matzat Uwe
Published: May 2009

This paper tests empirically the claim that the successful application of information and communication technologies (ICTs) depends on the social context of their use. There are striking differences in the prevalence of ICT use between researchers in different academic disciplines. Nevertheless it is unclear whether and how they depend on disciplinary differences of the academic communication system. This paper presents several existing and new hypotheses that specify how disciplinary differences in communication systems influence whether researchers make use of so-called internet discussion groups (IDGs). The hypotheses either argue that specific trust problems inhibit IDG subscription or that IDGs fulfil discipline-specific communication needs, which gives incentives for subscription. They are tested with data of a sample of university researchers in the natural and social sciences and the humanities. The trust hypotheses are not confirmed. The idea that IDGs have a distinct orientation function that diminishes deficiencies in the existing communication systems of some disciplines finds support. Scholars who work in research fields that are difficult to overview, that is fields with a high number of journals, have a special incentive to subscribe to IDGs.
Effectiveness of web search results for genre and sentiment classification
Authors: Na Jin-Cheon , Thet Tun Thura
Published: May 2009

The motivation of this study is to enhance general topical search with a sentiment-based one where the search results (snippets) returned by the web search engine are clustered by sentiment categories. Firstly we developed an automatic method to identify product review documents using the snippets (summary information that includes the URL, title, and summary text), which is genre classification. Then the identified snippets were automatically classified into positive (recommended) and negative (non-recommended) documents, which is sentiment classification. Thereafter the user may directly decide to access the positive or negative review documents. In this study we used only the snippets rather than their original full-text documents, and applied a common machine learning technique, SVM (support vector machine), and heuristic approaches to investigate how effectively the snippets can be used for genre and sentiment classification. The results show that the web search engine should improve the quality of the snippets especially for opinionated documents (i.e. review documents).
The role of knowledge management in achieving effective crisis management: a case study
Authors: Wang Wei-Tsong , Belardo Salvatore
Published: May 2009

While most would agree that effective knowledge management can improve the management of crises, it is surprising how little research has been done in this area. In order to begin to address this deficiency, this study presents a framework designed to determine whether, and to what extent, knowledge management can positively impact crisis management (CM). The framework is the result of combining classic strategic CM frameworks with Zack’s knowledge strategy framework. A case study of two energy companies in Taiwan is conducted to investigate the relationships between knowledge strategies and critical CM factors. The research results indicate two main findings. First, an organization needs to employ different knowledge strategies at different phases of a business crisis to fulfil its different knowledge needs and achieve the desired CM outcomes. Second, there are significant relationships among knowledge strategies, crisis phases, and crisis characteristics, as summarized in nine theoretical propositions.
Professions and the Pursuit of Transparency in Healthcare: Two Cases of Soft Autonomy
Authors: Levay Charlotta , Waks Caroline
Published: May 2009

Contemporary professions are increasingly challenged to open up to scrutiny from the outside. Earlier research is focused on two main types of responses and consequences: colonization by a managerial logic of self-monitoring and decoupling of auditing and professional practice. This paper describes a different type of response which implies that professionals get actively involved in monitoring their own activities, without losing their professional autonomy. Two cases from Swedish healthcare were investigated: accreditation at a hospital laboratory and the national quality registries. In both cases, professional involvement took the form of translation and negotiation in expert networks, restrained by a certain resistance towards external monitoring, but driven by an interest in legitimizing and developing professional work. The resulting situation is characterized as a `soft autonomy' which combines professional internalization of originally non-professional auditing ideas with maintained professional control over evaluation criteria.
In Search of Social Capital in State-Activist Capitalism: Elite Networks in France and Korea
Authors: Yoo Taeyoung , Soo Hee Lee
Published: May 2009

This paper argues that the absence of high trust social capital has not prevented firms from performing well in economies with the dirigiste tradition. Despite low general trust, France and Korea have recorded sound growth rates and innovation performance, thus contradicting the central argument of social capital theory. Drawing on the dirigiste tradition, we suggest that elite networks of France and Korea are an idiosyncratic form of social capital, nurtured through their institutional arrangements such as low trust, concentrated power relations and state-run elite education. The elite networks enhance the coordination efficiency of economic relations through state activism, constituting an alternative to high trust social capital.
Global Recognition of Qualified Toxicologic Pathologists: Credential Review as a Potential Route for Recognizing the Proficiency of Pathologists Involved in Regulatory-type Nonclinical Studies
Authors: Ettlin Robert A. , Bolon Brad , Pyrah Ian , Konishi Yoichi , Black Hugh E.
Published: May 2009

Recent international summits of the International Federation of Societies of Toxicologic Pathologists have debated the desirability and potential means by which the proficiency of an individual toxicologic pathologist might be recognized and communicated throughout the world. The present article describes the advantages and disadvantages of implementing such a global recognition system by any means and provides a proposal whereby recognition might be accorded via rigorous credential review of a practitioner’s education and experience.
Entrepreneurial Action, Identity Work and the Use of Multiple Discursive Resources
Authors: Watson Tony J.
Published: May 2009

Research is increasingly questioning the way in which the notion of entrepreneurial self or entrepreneurial identity was initially used to throw light on the connection between the variety of relevant discourses that exist in contemporary societies and the everyday actions of entrepreneurial actors.To take this trend further, two developments are made. First, the concept of identity is refined by identifying two intertwined aspects: a self-identity aspect and a discourse-related social identities aspect. Both the `self' and the `social' aspects of entrepreneurs' identity work are influenced by discourses existing in the society around them. Second, existing empirical research is supplemented by a very close focus on individuals in a specific entrepreneurial context.A case study is presented in which we see two principle figures in a growing family firm being influenced by, making use of and contesting a variety of discursive resources. This fine-grained analysis of entrepreneurially related identity work in practice shows how people in entrepreneurial contexts use discursive resources in a negotiated, shifting, creative and nuanced but often ambiguous manner. These discursive resources include but go beyond notions from `entrepreneurial' discourses.
Investigating Barriers to SME Growth and Development in Transition Environments
Authors: Doern Rachel
Published: May 2009

A perennial question for management scholars, economists and policy makers alike is why businesses do or do not grow. One way of explaining why so many businesses do not grow is through the notion of `barriers'. In formerly planned European economies in transition, barriers have been used to account for why so few businesses grow and why the SME sector has not developed as widely or rapidly as expected; yet, studies in this context tell us very little about why, how or indeed, if, this is the case.This article explores the limitations of the previous approach to investigating barriers, looking at the research assumptions, definitional issues, conceptualizations, and methodological limitations and challenges present in some of these studies. It begins to develop and integrate the previous approach into a more rounded methodology, shifting the focus away from prediction to understanding, and away from quantifying what kinds of barriers affect growth to exploring how barriers may influence growth intentions and behaviours. It encourages researchers to unpack the meaning of barriers and to take into account the context in which they are perceived. It also aims to overcome some of the challenges encountered by researchers working in transition environments.
Understanding the Antecedents to the Adoption of CRM Technology by Small Retailers
Authors: Peltier James W. , Schibrowsky John A. , Yushan Zhao
Published: May 2009

Customer relationship management (CRM) technology provides a strategic opportunity to better understand customers. Virtually unexplored is research targeting CRM adoption by small businesses. This exploratory study investigates the factors that influence the adoption of CRM technology by small entrepreneurial retail firms. A key premise is that `entrepreneurial' retail store owners can be differentiated from `owner-managers' through their adoption of CRM. A preliminary model is developed and tested through a sample of 386 small hardware retailers responding to a mail questionnaire. The findings show that CRM adopters had higher product class knowledge, a greater risk orientation, saw a stronger relative advantage, perceived higher environmental complexity and hostility, and had a more open business change orientation.
A Discursive Approach to Genre
Authors: Erjavec Karmen , Poler Kovačič Melita
Published: May 2009

■ This article argues that genres are discursive categories that move beyond the boundaries of media texts and operate within industry, audience and social practices as well. It demonstrates the usefulness of an expanded genre analysis. The genre chain of mobi news, which relies on the use of mobile telephone cameras and is a popular genre in Slovenian and Balkan media, is explored by combining text analysis with an analysis of discourse practice and social practice. Mobi news items are produced as a denunciatory participatory practice in which audience participation is managed by the production team: journalists define the content and the structure of the news while the audience's activity is reduced to spying and denunciating. ■
Watching the Detectives
Authors: Reijnders Stijn
Published: May 2009

■ Visiting the settings of popular media products has become a growing niche within the tourist market. This article provides a content-based explanation for the popularity of one specific example: the TV detective tour. Three popular television series from different linguistic regions of Europe were analysed, each of which has led to substantial tourist numbers: Inspector Morse (Oxford) , Wallander (Ystad) and Baantjer (Amsterdam). The results show that the tourist attraction of the TV detective programme is due in part to its topophilic character. First, couleur locale is extremely important to the narrative setting of the detective programmes; the narratives elaborate on existing tourist gazes. Second, the narrative development is characterized by a process of investigation and tracking. By taking the tour, viewers can walk in the detective's footsteps and relive the storylines. Finally, the TV detective genre promises the viewer/tourist an acquaintance with the thrilling, `guilty' landscapes of the TV detective. ■
Beauty and the Beast
Authors: Coulomb-Gully Marlène
Published: May 2009

■ Though fundamental in the process of political representation, the phenomenon of incarnation is little studied. Incarnation is an ephemeral concept, resistant to formalization, for which the present article wishes to propose a first approach, by formulating the hypothesis that the politicians' actual bodies are at the heart of the operation. Based on a press and televisual corpus, the article focuses on the French presidential campaign of 2007, and analyses the two main protagonists Nicolas Sarkozy and Ségolène Royal. Starting from their physical dimension, it shows how the body becomes a vector of a sociological message and highlights the manipulation of gender during this latest campaign. ■
The Agrofuels Transition
Authors: Holt-Giménez Eric , Shattuck Annie
Published: May 2009

Despite recent critiques of agrofuels, the industry is booming, signaling transformations in the world's food and fuels systems. International financial institutions, biotechnology firms, governments, and agribusiness are restructuring control over land, genetic resources, economic space, and market power. These moves prefer transnational capital at the expense of farmers in the North and extensive areas vital to the livelihoods of small producers in the Global South. This article suggests that the agrofuels boom may be a new—and particularly destructive—stage in industry's extractive transformations of agriculture. The movement-based logic of food sovereignty—people's right to define their own food and agriculture systems—suggests a rollback of the “agrofuels transition” is possible.
Agrofuels and Agrifoods
Authors: Pengue Walter A.
Published: May 2009

The economically successful model of industrial agriculture that is currently expanding throughout Argentina is leading to deep social, economic, environmental, and logistical changes that are seriously restricting the sustainability of the rural, urban and environmental systems. The transformation of activities, the arrival of new technologies, the arrival of organizations with large financial and technological capabilities, the displacement of hundreds of thousands of small-scale and medium-scale farmers and their reallocation to new productive functions are not only affecting the social sustainability of the rural sector but are affecting the urban communal plots of villages and towns located on the Chacopampeana Plain. Now, the production of agrofuels as a response to international global demand will promote the ecological and social depletion that Argentina has been facing from the beginning of the 1990s. We argue in terms of ecological economics that externalities should be included in the costs of companies, not just economic costs.
Agrofuels, Food Sovereignty, and the Contemporary Food Crisis
Authors: Rosset Peter
Published: May 2009

In this article, agrofuels are examined in the context of the world food price crisis and the “food sovereignty” proposal for addressing the crisis. Both short- and long-term causes of the crisis are examined, and while agrofuels are presently not a prime causal factor they are clearly contraindicated by the crisis. Food sovereignty, including a moratorium on agrofuels, is argued to offer the best option for managing the crisis.
A First Law Thermodynamic Analysis of Biodiesel Production From Soybean
Authors: Patzek Tad W.
Published: May 2009

A proper First Law energy balance of the soybean biodiesel cycle shows that the overall efficiency of biodiesel production is 0.18, i.e., only 1 in 5 parts of the solar energy sequestered as soya beans, plus the fossil energy inputs, becomes biodiesel. Soybean meal is produced with an overall energetic efficiency of 0.38, but it is not a fossil fuel. If both biodiesel and soybean meal were treated as finished fossil fuels, the overall energy efficiency of their production would be 0.56, ∼ 40% higher than the average overall efficiency, 0.4, of producing ethanol and DDGS from corn patzek 2006z, patzek 2007a. This difference is caused by the high energy efficiency of producing soybean meal, which is 57% of soya beans by mass. Production of corn ethanol alone, with the average overall efficiency of 0.25, is more energy-efficient than production of biodiesel from soybeans with the overall efficiency of 0.18. The results of the current analysis are compared with those by NREL 1998 and Hill et al. 2006.
A New Actuation Approach for Haptic Interface Design
Authors: Conti François , Khatib Oussama
Published: May 2009

Traditional haptic interfaces available today use motors to generate forces, while a more recent class of devices uses passive elements to constrain movement. This paper presents a new hybrid actuation approach that combines the use of brakes, springs and motors. The proposed actuation design is potentially safer and more energy efficient than haptic devices that only rely on motors for actuation, and also overcomes many of the rendering limitations displayed by existing passive haptic displays. Applications of this new technology range from devices where safety and reliability are of prime concerns (e.g. large force-feedback interfaces) to devices which can only be powered by limited energy sources such as small batteries (e.g. portable haptic interfaces).
Experiments with Cooperative Control of Underwater Robots
Authors: Dunbabin Matthew , Corke Peter , Vasilescu Iuliu , Rus Daniela
Published: May 2009

In this paper we describe cooperative control algorithms for robots and sensor nodes in an underwater environment. Cooperative navigation is defined as the ability of a coupled system of autonomous robots to pool their resources to achieve long-distance navigation and a larger controllability space. Other types of useful cooperation in underwater environments include: exchange of information such as data download and retasking; cooperative localization and tracking; and physical connection (docking) for tasks such as deployment of underwater sensor networks, collection of nodes and rescue of damaged robots. We present experimental results obtained with an underwater system that consists of two very different robots and a number of sensor network modules. We present the hardware and software architecture of this underwater system. We then describe various interactions between the robots and sensor nodes and between the two robots, including cooperative navigation. Finally, we describe our experiments with this underwater system and present data.
Sensor-based Behavior Control for an Autonomous Underwater Vehicle
Authors: Sattar Junaed , Giguère Philippe , Dudek Gregory
Published: May 2009

In this paper, we evaluate a set of core functions that allow an underwater robot to perform surveillance under operator control. Specifically, we are interested in behaviors that facilitate the monitoring of organisms on a coral reef, and we present behaviors and interaction modes for a small underwater robot. In particular, we address some challenging issues arising from the underwater environment: visual processing, interactive communication with an underwater crew and, finally, orientation and motion of the vehicle through a hovering mode. The visual processing consists of target tracking using various techniques (color segmentation, color histogram and mean shift). Communication underwater is achieved through printed cards with robustly identifiable visual markers on them. Finally, the hovering gait developed for this vehicle relies on the planned motion of six flippers to generate the appropriate forces.
Dynamic Rolling for a Modular Loop Robot
Authors: Sastra Jimmy , Chitta Sachin , Yim Mark
Published: May 2009

Reconfigurable modular robots have the ability to use different gaits and configurations to perform various tasks. A rolling gait is the fastest currently implemented gait available for traversal over level ground and shows dramatic improvements in efficiency. In this work, we analyze and implement a sensor-based feedback controller to achieve dynamic rolling for a loop robot. The robot senses its position relative to the ground and changes its shape as it rolls. This shape is such that its center of gravity is maintained to be in front of its contact point with the ground, so in effect the robot is continuously falling and thus accelerates forward. Using simulation and experimental results, we show how the desired shape can be varied to achieve higher terminal velocities. The highest velocity achieved in this work is 26 module lengths per second (1.6 m/s) which is believed to be the fastest gait yet implemented for an untethered modular robot. One of the major findings is that more elongated shapes achieve higher terminal velocities than rounder shapes. We demonstrate that this trend holds going up inclines as well as down. We show that rounder shapes have lower specific resistance and are thus more energy efficient. The control scheme is scalable to an arbitrary number of modules, shown here using eight to 14 modules.
Insertable Surgical Imaging Device with Pan, Tilt, Zoom, and Lighting
Authors: Hu Tie , Allen Peter K. , Hogle Nancy J. , Fowler Dennis L.
Published: May 2009

In this paper we describe work we have done in developing an insertable surgical imaging device with multiple degrees of freedom for minimally invasive surgery. The device is fully insertable into the abdomen using standard 12 mm trocars. It consists of a modular camera and lens system which has pan and tilt capability provided by two small DC servo motors. It also has its own integrated lighting system that is part of the camera assembly. Once the camera is inserted into the abdomen, the insertion port is available for additional tooling, motivating the idea of single-port surgery. A third zoom axis has been designed for the camera as well, allowing close-up and far-away imaging of surgical sites with a single camera unit. In animal tests with the device we have performed surgical procedures including cholecystectomy, appendectomy, running (measuring) the bowel, suturing, and nephrectomy. Preliminary tests suggest that the new device may have advantages over a standard laparoscope including the following.

• Low-cost and simple design.

• Easier and more intuitive to use than a standard laparoscope.

• Joystick operation requires no specialized operator training.

• Pan/tilt functions provide a large imaging volume not restricted by the fulcrum point of standard laparoscope.

• Time to perform procedures was better than or equivalent to a standard laparoscope.

We believe these insertable platforms will be an integral part of future surgical systems. The platforms can be used with tooling as well as imaging devices, allowing many surgical procedures to be performed using such a system.
Factoring the Mapping Problem: Mobile Robot Map-building in the Hybrid Spatial Semantic Hierarchy
Authors: Beeson Patrick , Modayil Joseph , Kuipers Benjamin
Published: May 2009

We propose a factored approach to mobile robot map-building that handles qualitatively different types of uncertainty by combining the strengths of topological and metrical approaches. Our framework is based on a computational model of the human cognitive map; thus it allows robust navigation and communication within several different spatial ontologies. This paper focuses exclusively on the issue of map-building using the framework.

Our approach factors the mapping problem into natural sub-goals: building a metrical representation for local small-scale spaces; finding a topological map that represents the qualitative structure of large-scale space; and (when necessary) constructing a metrical representation for large-scale space using the skeleton provided by the topological map. We describe how to abstract a symbolic description of the robot’s immediate surround from local metrical models, how to combine these local symbolic models in order to build global symbolic models, and how to create a globally consistent metrical map from a topological skeleton by connecting local frames of reference.
Steerability in Planar Dissipative Passive Robots
Authors: Dalong Gao  , Book Wayne J.
Published: May 2009

Steerability is intuitively the ability to change directions. In this paper, a formal definition is given for the steerability of a robot achieved either passively or actively. A dissipative passive robot uses only passive actuators such as brakes and clutches (a clutch is essentially a brake plus a gearbox) to redirect or steer operator-imposed motion by dissipating energy. While it has safety and ergonomic advantages, which are essential for human interactions, it also has difficulties in redirecting certain motions since passive actuators cannot add energy. The force generated from a passive actuator is used to measure the steerability. A steerability theorem was then developed for a manipulator with generalized passive actuators. The steerability analysis for an example diamond-shaped manipulator shows the difference in steerability when using only brakes or a combination of brakes and clutches. Further analyses show the difference comes from the ability of a clutch to change the direction of the generated force in the subject robot by altering the effective gear ratios.
Robot-assisted Long Bone Fracture Reduction
Authors: Westphal Ralf , Winkelbach Simon , Wahl Friedrich , Gösling Thomas , Oszwald Markus , Hüfner Tobias , Krettek Christian
Published: May 2009

The preferred treatment of femoral (thigh bone) shaft fractures nowadays is the minimally invasive technique of intramedullary nailing. However, in addition to its advantages, this technique also has a number of disadvantages, such as the frequent occurrence of malaligned fracture reductions and high X-ray exposure, especially to the operating team. The aim of our research is to overcome these shortcomings by utilizing modern techniques such as three-dimensional (3D) imaging, navigation, and robotics. In this paper we present the current state of our interdisciplinary research project. We first introduce a telemanipulated fracture reduction procedure, which is based on 3D imaging data. This set-up is improved one step further towards an automated fracture reduction procedure. Finally, two drilling tasks, namely the opening of the medullar cavity and the distal locking of the intramedullary nail, are presented, which are supported by automated X-ray-based image analysis and robot-assisted drill guidance. We show that high reduction accuracies can be achieved with our robotic system. Furthermore, the robot-assisted drill guidance achieves superior results with respect to increased precision and decreased X-ray exposure compared with the conventional procedure. We conclude that this surgical procedure benefits conspicuously from the support of robotic assistance systems and that further research and development in this field is worthwhile.
A Force Feedback Teleoperated Needle Insertion Device for Percutaneous Procedures
Authors: Piccin O. , Barbé L. , Bayle B. , de Mathelin M. , Gangi A.
Published: May 2009

A novel robotized tool for percutaneous interventions under CT-scanner guidance is presented in this paper. This teleoperated compact robotic device can be used as an end-effector for an image-guided positioning robot. It is fully compatible with computed tomography constraints. In particular, it is able to manipulate needles that are longer than the overall height of its body. This novel device mimics the manual gesture performed by the physician by grasping and re-grasping the needle. This operating principle enables direct force measurement on the inserted surgical needle and allows efficient teleoperation with force feedback. In the paper, the specifications of this needle driver are presented and the proposed design is explained. Experiments conducted on swine under operating conditions were performed in order to validate both the concept and the design of the proposed insertion device in the context of teleoperated needle insertions with force feedback.
Pneumatic Control of Robots for Rehabilitation
Authors: Wolbrecht Eric T. , Reinkensmeyer David J. , Bobrow James E.
Published: May 2009

Pneumatic actuators are attractive for robotic rehabilitation applications because they are lightweight, powerful, and compliant, but their control has historically been difficult, limiting their use. In this paper we present the pneumatic control system developed for Pneu-WREX: a pneumatically actuated, upper extremity orthosis for rehabilitation after stroke. The developed pneumatic control system combines several novel components to make the entire system stable, reliable, and backdrivable. These components, which are described in this paper, include: (1) a unique two-valve force control subsystem that keeps chamber pressure low (to reduce friction and energy consumption) and adaptively compensates for leakage; (2) a new servovalve characterization approach that uses experimentally measured data in a combined non-linear and least-squares regression to obtain a linear relationship between mass flow and valve voltage; and (3) a new approach to state estimation using accelerometers and a Kalman filter to obtain clean signals for use in a non-linear adaptive feedback control law. Experimental testing of the device demonstrates the efficacy of the developed pneumatic control system.
Robotic Motion Compensation for Beating Heart Intracardiac Surgery
Authors: Yuen Shelten G. , Kettler Daniel T. , Novotny Paul M. , Plowes Richard D. , Howe Robert D.
Published: May 2009

3D ultrasound imaging has enabled minimally invasive, beating heart intracardiac procedures. However, rapid heart motion poses a serious challenge to the surgeon that is compounded by significant time delays and noise in 3D ultrasound. This paper investigates the concept of using a one-degree-of-freedom motion compensation system to synchronize with tissue motions that may be approximated by 1D motion models. We characterize the motion of the mitral valve annulus and show that it is well approximated by a 1D model. The subsequent development of a motion compensation instrument (MCI) is described, as well as an extended Kalman filter (EKF) that compensates for system delays. The benefits and robustness of motion compensation are tested in user trials under a series of non-ideal tracking conditions. Results indicate that the MCI provides an approximately 50% increase in dexterity and 50% decrease in force when compared with a solid tool, but is sensitive to time delays. We demonstrate that the use of the EKF for delay compensation restores performance, even in situations of high heart rate variability. The resulting system is tested in an in vitro 3D ultrasound-guided servoing task, yielding accurate tracking (1.15 mm root mean square) in the presence of noisy, time-delayed 3D ultrasound measurements.
Leader-Follower Formation Control of Multiple Non-holonomic Mobile Robots Incorporating a Receding-horizon Scheme
Authors: Jian Chen  , Dong Sun  , Jie Yang  , Haoyao Chen
Published: May 2009

In this paper we present a receding-horizon leader—follower (RH-LF) control framework to solve the formation problem of multiple non-holonomic mobile robots with a rapid error convergence rate. To maintain the desired leader—follower relationship, we propose a separation—bearing—orientation scheme (SBOS) for two-robot formations and separation—separation—orientation scheme (SSOS) for three-robot formations in deriving the desired postures of the followers. Unlike the other leader—follower approaches in the existing literature, the orientation deviations between the leaders and followers are explicitly controlled in our framework, which enables us to successfully solve formation controls when robots move backwards, which is termed as a formation backwards problem in this paper. Further, we propose to incorporate the receding-horizon scheme into our leader—follower controller to yield a fast convergence rate of the formation tracking errors. Experiments are finally performed on a group of mobile robots to demonstrate the effectiveness of the proposed formation control framework.
A Planar Symmetric Walking Cancellation Algorithm for a Foot—Platform Locomotion Interface
Authors: Yoon Jungwon , Park Jangwoo , Ryu Jeha
Published: May 2009

In this paper we describe a planar symmetric walking cancellation algorithm for generating smooth and collision-free turning motions on the foot—platform locomotion interface, the Virtual Walking Machine that has two three-degree-of-freedom (DOF) planar and three-DOF footpad parallel manipulators connected in series. This solves the problem of the asymmetric walking velocity profile of the swing and stance feet in the existing constant-velocity walking cancellation method. The proposed symmetric walking cancellation method cancels the stance foot motion with the opposite swing foot motion. In addition, the proposed walking cancellation method was extended to a planar walking algorithm that uses constraint motions of curvatures to avoid mechanical collisions between the two foot platforms. Walking simulations, experiments, and user evaluations showed that the proposed symmetric walking cancellation algorithm is better than the previous constant-velocity algorithm in terms of smoothness, absence of delay, and walking stability. For planar motions, the device can generate a maximum turning angle of 20° and a maximum turning velocity of 45° per second for one step with a minimum available curvature of 1 m. Navigation experiments in a virtual environment were performed to show the effectiveness of the suggested planar walking algorithm.
Robotic Routers: Algorithms and Implementation
Authors: Tekdas Onur , Wei Yang  , Isler Volkan
Published: May 2009

Mobile robots equipped with wireless networking capabilities can act as robotic routers and provide network connectivity to mobile users. Robotic routers provide cost-efficient solutions for the deployment of a wireless network in a large environment with a limited number of users. In this paper, we present motion planning algorithms for robotic routers to maintain the connectivity of a single user to a base station. We consider two motion models for the user. In the first model, the user’s motion is known in advance. In the second model, the user moves in an adversarial fashion and tries to break the connectivity. We present optimal motion planning strategies for both models. We also present details of a proof-of-concept implementation.
Dual-channel Haptic Synthesis of Viscoelastic Tissue Properties using Programmable Eddy Current Brakes
Authors: Gosline Andrew H. C. , Hayward Vincent
Published: May 2009

We describe a novel method for haptic synthesis of viscoelastic responses which employs a dual-channel haptic interface. It has motors that generate torque independently of velocity and brakes that generate viscous torque independently of position. In this way, twice as many states are directly accessible, which reduces reliance on observation and feedback. Torque-generating actuators, e.g. DC motors, are well known. For the viscous actuators, we use eddy current brakes as programmable, linear, non-contact, physical dampers. By decomposing a mechanical impedance to be realized into viscous and elastic components, we can dedicate each actuator to that component it is ideally suited to synthesize, dampers for the viscous component, and motors for the elastic component. The decomposition is in general not unique so it is possible to select the option that takes the best advantage of the hardware. Experimental results show that this technique can render a variety of viscoelastic models without the artifacts that can occur when synthesizing viscous components on conventional haptic interfaces. The synthesized mechanical impedances have guaranteed passivity, and can have arbitrarily high or low viscous and elastic components.
Patients' Views of Therapeutic Action in Psychoanalytic Group Psychotherapy
Authors: Johansson Lena , Werbart Andrzej
Published: May 2009

Patients' views of curative and hindering factors in psychoanalytic group psychotherapy are explored, starting with semi-structured interviews with 28 young adult patients at therapy termination. Using grounded theory methodology, a theoretical model of therapeutic action is constructed, elucidating the interactions between positive and negative experiences in the group. The focal point appears to be the patient's experience of their own activity within the context of the group as whole, leading to increased self-knowledge and improved handling of emotions. The positively experienced change is also affected by people outside of therapy and real life events. The patients ascribed most frequent hindering factors to the absence of their own action to other group members and to the therapeutic frames.

In contrast to therapist-based theoretical models, positive experience in the group leads patients to minimize the therapist's role, while negative experiences lead patients to want a more active therapist.
Death and the Dynamics of Group Life
Authors: McDermott Fiona , Hill Christine , Morgan Anne
Published: May 2009

This article reports qualitative analysis of data collected during psychoanalytically orientated group sessions after the death of members. This group, based in group analytic and existentialist theoretical perspectives, is for women with advanced breast cancer. We ask: how and why does the group keep going, even as its members leave it through death? Our interest in understanding the therapeutic factors generated by the co-therapists, group members, and the group as a whole is assisted by Winnicott (1956, 1960) and Bion's (1959) concepts of holding and containment. These concepts are used to examine the therapists' role—containers for creating a thinking space where unknowable and unthinkable thoughts can be transformed into something bearable and creative.
Group Helplessness and Rage
Authors: Wolf Ernest
Published: May 2009

The problem of group violence is one of the most important issues facing society. Not only is this a crucial topic for our Americanized society, but we are confronted with events that are occurring all over the globe, on all continents, and in all countries. While it is obvious that the daily news pin-points the current `hot' area of conflict, such as the Middle East, the Balkans, and certain regions of Africa, there seems to be no spot on earth that is safe from unreasoned violence. Individuals as well as groups are in danger of being destroyed. How are we to understand these phenomena?
Test of Void-Filled SHS Beams Under Cyclic Loading
Authors: Arivalagan S. , Kandasamy S.
Published: May 2009

This paper describes a series of tests to failure of concrete filled (composite) tubular beams subjected to cyclic loading. The beams made from steel grade of Yst310 at 345 MPa nominal yield stress, square hollow sections (SHS), depth-to-thickness ratios in the range of 20.5 were tested. The effects of these loading protocols on the elastic hysteretic behavior of the SHS beams were examined. The SHS beams exhibited stable hysteretic behavior up to local buckling, and then showed considerable degradation in strength and ductility depending on d/t ratios. First-cycle yield load moments predicted in tested composite beam specimens were compared with standard CIDECT moments. The effect of strength, ductility, and energy absorption capacity of the beams were examined.
The effect of PM10 on human lung fibroblasts
Authors: Alley DF , Langley-Turnbaugh S , Gordon NR , Wise JP , Van Epps G , Jalbert A
Published: May 2009

Asthma diagnoses are increasing nationally with the highest rates in the New England states. Epidemiological studies have suggested a relationship between airborne particulate matter (PM) and severity of an asthma attack. However, because particulate matter, PM, is such a complex mixture, it is difficult to isolate the exacerbating factors. In this paper we investigate the effect of NIST (National Institute of Standards and Technology) and Maine PM and the soluble metals released from the PM on the growth of human lung fibroblasts. While the NIST PM itself had the most pronounced effect on cell survival rates, solutions of metals extracted from the PM also affected cell survival. Treatment of cells with 10, 50, 100 and 200 ug/cm2 resulted in 84 ± 13%, 69 ± 15%, 58 ± 14% and 58 ± 16% survival, respectively. Appropriate concentrations of eight acid soluble metals from NIST PM were determined and tested on cells giving 91 ± 11%, 87 ± 10%, 72 ± 18% and 66 ± 20% survival, respectively. Soluble metals from Maine PM were extracted and mixtures of appropriate concentrations of these metals were used to treat cells, resulting in 88 ± 5%, 81 ± 5%, 79 ± 3% and 57 ± 9% survival rate. To determine which, if any, of the metals individually affected the cells, Mn, Cu, V and As were used to treat the cells. At the metal concentrations tested, only As and V affected cell survival.
The antioxidant effects of vitamin A, C, and E on aflatoxin B1-induced oxidative stress in human lymphocytes
Authors: Alpsoy L , Yildirim A , Agar G
Published: May 2009

The aim of this study was to investigate the possible protective role of vitamin A, C, and E on aflatoxin B1-induced in human lymphocytes using biochemical approaches. The control group received dimethyl sulfoxide, the second group of cultures were administered aflatoxin B1 (AFB1) at a dose of 5 μM. The other group of cultures were treated with AFB1+vitamin A (0.5 and 1.0 and 1.5 μM) and AFB1+vitamin C (25, 50, and 100 μM) and AFB1+vitamin E (40, 100, and 200 μM). The results of this experiment show that AFB1 significantly decreased the level of GSH and the activities of superoxide dismutase and GPx and increased level of malondialdehyde. Simultaneous supplementation with vitamin A, C, and E restored these parameters to that of normal range. In conclusion, vitamin A, C, and E exhibited protective effects in human lymphocytes by inhibiting AFB1-induced ROS generation.
Blood and urine cadmium and bioelements profile in nickel-cadmium battery workers in Serbia
Authors: Bulat Z Plamenac , Đukić-Ćosić D , Đokić M , Bulat P , Matović V
Published: May 2009

Although cadmium (Cd) is extensively used for nickel-cadmium battery production, few recent reports are available on the effect of this toxic metal on the imbalance of biometals in occupational exposure. The current study was carried out to determine the Cd level and its effect on the content of bioelements: zinc, cooper, magnesium, and iron in blood and urine of workers exposed to Cd during nickel-cadmium battery production. β2-microglobulins (β2-MG), as indicators of kidney damage, were determined in urine.

The study group comprised 32 male nickel-cadmium battery workers, and the control group had 15 male construction workers with no history of Cd exposure. Levels of Cd and bioelements were determined in blood and urine by atomic absorption spectrophotometry.

Cd concentration in blood of exposed workers was around 10 μg/L and in urine ranged from 1.93 to 8.76 μg/g creatinine (cr). Urine Cd concentration was significantly higher in exposed workers than in the controls, although no statistical difference in β2-MG content was observed in urine between the two groups. Blood Zn and Mg level were significantly reduced and urine Zn level was increased in Cd-exposed group when compared with controls.

The mean Cd concentrations in blood and urine did not exceed the recommended reference values of 10 μg/L in blood and 10 μg/g cr in urine. Cd exposure resulted in disturbances of Zn in blood and urine and Mg in blood but had no effect on Cu and Fe content in biological fluids.
Successful treatment of extreme acute lead intoxication
Authors: Mikler J , Banovcin P , Jesenak M , Hamzikova J , Statelova D
Published: May 2009

Severe acute lead intoxications are rare and are associated with accidental or purposeful ingestion. There were only few cases of severe to fatal poisonings reported in literature in children. We report a case of acute lead intoxication in a child with extremely high lead blood level of 20.4 μmol/L (422.7 μg/dL), who was treated with chelation and in whom significant organ dysfunction did not develop. Documented significant high level above 3.37 μmol/L (corresponding to 70 μg/dL) in this patient persisted for approximately 24 h. Adequate, single or combined chelatation therapy in early phase of acute lead poisoning is essential for the further patient’s outcome.