bluuebunny/crossref_metadata_2025_split huggingface dataset:
Planning Multi-Step Error Detection and Recovery Strategies
Authors: Donald Bruce R. 
Published: March 2007

Robots must plan and execute tasks in the presence of uncer tainty. Uncertainty arises from sensing errors, control errors, and the geometry of the environment. By employing a com bined strategy offorce and position control, a robot program mer can often guarantee reaching the desired final configura tion from all the likely initial configurations. Such motion strategies permit robots to carry out tasks in the presence of significant uncertainty. However, compliant motion strategies are very difficult for humans to specify. For this reason we have been working on the automatic synthesis of motion strategies for robots. In previous work (Donald 1988b; 1989), we presented a framework for computing one-step motion strategies that are guaranteed to succeed in the presence of all three kinds of uncertainty. The motion strategies comprise sensor-based gross motions, compliant motions, and simple pushing motions. However, it is not always possible to find plans that are guaranteed to succeed. For example, if tolerancing errors render an assembly infeasible, the plan executor should stop and signal failure. In such cases the insistence on guaranteed success is too restrictive. For this reason we investigate error detection and recovery (EDR) strategies. EDR plans will succeed or fail recognizably: in these more general strategies, there is no possibility that the plan will fail without the exec utor realizing it. The EDR framework fills a gap when guar anteed plans cannot be found or do not exist; it provides a technology for constructing plans that might work, but fail in a "reasonable" way when they cannot. We describe techniques for planning multi-step EDR strat egies in the presence of uncertainty. Multi-step strategies are considerably more difficult to generate, and we introduce three approaches for their synthesis: these are the Push-for ward Algorithm, Failure Mode Analysis, and the Weak EDR Theory. We have implemented the theory in the form of a planner, called LIMITED, in the domain ofplanar assemblies.
Planning for Dexterous Manipulation with Sliding Contacts
Authors: Trinkle J.C. , Paul R.P. 
Published: March 2007

Dexterous manipulation refers to the skillful execution of object reorienting and repositioning maneuvers, especially when performed within the grasp of an articulated mechani cal hand. In this paper we study the problem of gaining a secure and enveloping grasp of a two-dimensional object by exploiting sliding at the contacts between the object and the hand. This is done in two steps:first, choosing an initial grasp with which the object can be manipulated away from the support, and second, continuously altering the grasp so that envelopment is achieved. The plans generated by our technique could be executed with only position control. How ever, it would be prudent to incorporate contact force sensing to prevent damage during unexpected events. The main contributions of this paper are the derivation of liftability regions of a planar object for use in manipulation planning; the use of the lifting phase plane in manipulation planning; and the derivation of the quasi-static forward object motion problem, which provides a basis for general three- dimensional manipulation planning with rolling and/or sliding contacts.
Closed-Loop Behavior of a Feedback-Controlled Flexible Arm: A Comparative Study
Authors: Cetinkunt Sabri , Yu Wen-Lung 
Published: March 2007

The dynamics of mechanical systems with distributed flexi bility are described by infinite-dimensional mathematical models. In order to design afinite-dimensional controller, a finite-dimensional model of the system is needed. The con trol problem of a flexible beam is a typical example. The general practice in obtaining a finite-dimensional model is to use modal approximation for distributed flexibility, retain a finite number of modes, and truncate the rest. In this approx imation, the appropriate selection of the mode shape func tions and the number of modes is not clearly known. Mostly standard pinned-free and clamped-free mode shapes are used for the flexible beam model, retaining only two or three modes and truncating the rest. The actual system, on the other hand, is infinite-dimensional, and the modes describing its flexible behavior under feedback control would be neither pinned-free nor clamped-free boundary condition modes. Rather, the mode shapes themselves are a function of the feedback control. The infinite-dimensional transcendental transfer functions for a flexible beam are formulated without any modal ap proximation. Finite-dimensional transfer functions with different shapes and numbers of modes are formulated. The closed-loop performance predictions of different models under the same colocated and noncolocated controllers, which attempt to achieve high closed-loop bandwidth, are compared. Results are surprisingly consistent in all cases; the predictions of clamped-free mode shape models are much more accurate than the predictions of the pinned-free mode shape models.
Three-dimensional Finite Element Analysis of Elastic Continua for Tactile Sensing
Authors: Speeter Thomas H. 
Published: March 2007

This article presents a method for determining three- dimensional stress and strain tensors within elastic layers covering or embedding tactile sensors. When an object comes in contact with the elastic surface of a sensing array, the distribution of forces on the surface is mechani cally filtered before reaching the underlying sensing ele ments. In order to predict the response of embedded sen sors and to understand the nature of the transduced variables, the relationship between surface forces and interior stress and strain tensors must be known. To deter mine this, we need to know the shape of the surface con tact area and the distribution of forces over that area, both normal and tangential. The algorithm described here discretizes the known surface force distribution into a dense array of independent point loads, approximating the surface force profile. The stress field produced by a single normal and/or a single tangential point load can be expressed analytically, given the elasticity and compressi bility of the material. Fields for each point load are calcu lated and can be summed to determine the resultant stress tensor at any point within the medium. Strains can be computed from stresses using a simple set of translation formulas. A detailed example is illustrated, analyzing the inter action between a sphere and a planar elastic half space. From the example the relative effects of depth and dis tance from the center of contact on the response of underlying sensors is discussed. Using results from the example, methods are proposed to exploit sensors at dif ferent depths and at different orientations within the medium. An algorithm for determining the direction of surface tangential forces and a method for determining the ratio between normal and tangential forces are ana lyzed, using unidirectionally sensitive sensors at different depths in the elastic layer.
Understanding the Power, Responsibility, Leadership and Learning Links: The Key to Successful Ethics Management
Authors: Lloyd Bruce 
Published: March 2007

This paper raises some fundamental questions about two of the most important issues in the world today: first, questions about the nature and relationship between power, responsibility and leader ship. Second, how this is related to the whole subject of learning. The core of the debate about leadership should be more about how and what we learn about responsibility, rather than the traditional preoccupation with power. If we want to improve the quality of life in the twenty-first century, the one thing that we have to do today is to try to improve the quality of our learning. Why we learn? How we learn? What we learn? What we do with that learning?
Compositional Oil Reservoir Simulation in Fortran D: a Feasibility Study On Intel iPsc/860
Authors: Kremer Ulrich , Ramé Marcelo 
Published: March 2007

This paper describes a study of the use of data-parallel languages such as Fortran D or High Performance For tran (HPF) and their compilation systems for existing large scientific applications. The central question ad dressed in this study is: Do such languages allow the parallelism available in the applications to be ex pressed so that the underlying compilation systems are able to generate efficient code for the specified parallelism? Our experiments on Intel's iPSC/860 distributed- memory multiprocessor indicate that the Fortran D lan guage and its compilation system can exploit the par allelism that exists in computations related to reservoir modeling, provided that the code is written in data- parallel programming style. Additional experiments show that other machines and their compilation sys tems can also exploit the compile time information available for programs written in a data-parallel pro gramming style.
Maternal identity in preterm birth
Authors: Reid Tilly 
Published: March 2007

■ The development of maternal identity appears to be considerably delayed in the event of preterm birth. ■ Women with high risk pregnancies may be afforded some protection by means of adaptation prior to birth. ■ Tactile contact appears to make the experience more real for women who are attempting to make the transition to motherhood. ■ Even in a group of moderate risk preterm infants, the psychological challenges facing mothers experiencing neonatal intensive care are considerable. ■ Conflicting responsibilities and time pressures contribute significantly to the stressful experience of mothers in NICU.
Review : Children's competency to consent: an ethical dilemma
Authors: Spencer Grace E 
Published: March 2007

■ The application of the best interests principle in current legislation creates an ethical dilemma in relation to children's consent to treatment. ■ The guiding principle of the UN Convention on the Rights of the Child (1989) symbolises a formal expression of children's participation rights. ■ Children's rights to consent to treatment are granted on socially determined ideals of competency. ■ Children's participation in health care is increasingly advocated in legislation but many barriers remain. ■ Nurses can facilitate children's participation through communicating information and creating partnerships with children.
Review : Making the invisible, visible
Authors: Warner Helen katherine 
Published: March 2007

■ Special needs children experience all the difficulties experienced by any child admitted to hospital although these are hugely magnified. ■ Parents continue to carry the burden of care, even after hospital admission, when their child has complex needs. ■ Nurses need to remember that these children have all the needs of any child in addition to needs specific to their disability. ■ Nurses should focus what the child can do, rather than what they cannot do.
India, the European Union and Geographical Indications: Convergence of Interests and Challenges Ahead
Authors: Chaturvedi Sachin 
Published: March 2007

In recent past geographical indication (GI) has emerged as one of the important instruments of intellectual property protection. The TRIPs committee should work towards clearing the confusion about interpretation of the Doha Declaration. While some countries, including Bulgaria, the EU and India, insist that the Doha Declar ation contains a clear mandate for negotiations, others, such as Argentina, dispute this interpretation. Nevertheless, India and the EU have jointly initiated some ef forts to strengthen the protection of GIs. The awareness among the developing countries has also increased manifold, a series of proposals to widen the list of geographical indications being a clear evidence of this. However, apart from getting GIs protected, developing countries would also have to take care of maintaining and ensuring the quality of their GI-protected products.
Anisotropically Phase-segregated Co9S8/PdSx Nanoacorns: Stability Improvement and New Heterostructures
Authors: Teranishi Toshiharu , Inoue Youhei , Saruyama Masaki , Nakaya Masafumi , Kanehara Masayuki 
Published: March 2007

Abstract
Stability of anisotropically phase-segregated Co9S8/PdSx nanoacorns, which we recently prepared, was improved by the addition of oleic acid or oleylamine as a stabilizer. Further investigations on the experimental conditions implied the formation of more complex PdSx/Co9S8/PdSx and Co9S8/PdSx/Co9S8 heterostructured nanoparticles.
Using USCAP’s Analytical Models, the Transportation Security Administration Balances the Impacts of Aviation Security Policies on Passengers and Airlines
Authors: Peterson Robert M. , Bittel Raymond H. , Forgie Christopher A. , Lee William H. , Nestor John J. 
Published: March 2007

The United States Commercial Aviation Partnership (USCAP), a group of government and industry stakeholders, combined several operations research methods in an analytical process and model that encompasses the US commercial aviation industry, including travelers, airlines, airports, airline and airport suppliers, government agencies, and travel and tourism entities. With input from these stakeholders, the model, combining system dynamics and econometrics, evaluates the effects of proposed security measures over 25 years. It enables all stakeholders to share a common understanding of these effects and helps government decision makers to improve security without undue and unforeseen operational and economic impact. The model uses linear and nonlinear programming, single and multivariate regression, system dynamics, econometrics, and Monte Carlo simulation. Since 2004, the government has considered the model results in determining policies for screening and credentialing airport employees, screening passengers and cargo, determining security staffing levels, and charging security fees. All participating stakeholders reviewed each analysis for acceptability. Based on the model’s success, they envision extending its use to include nonsecurity policy issues. September 11, 2001, the day commercial airplanes became weapons of mass destruction, is personal to many of us and has changed our perspectives on our lives and our world. The official death toll in the attacks was 2,986, including the airline passengers and airline crew members, workers and visitors in the World Trade Center and the Pentagon, the police and firefighters, and the 19 hijackers. The US Federal Aviation Administration (FAA) halted all flight operations at the nation’s airports for the first time in US history and swiftly grounded the approximately 5,000 commercial aircraft that were in flight. Only military aircraft were flying over the US for the rest of that and the next few days. The events of that day left the airline industry and its supporting companies financially devastated.
Assessment of Value of Glycosylated Albumin and Protein in Detection of Gestational Diabetes
Authors: Ryan Edmond A , Stark Renee , Crockford Peter M , Suthijumroon Ampha 
Published: March 2007

There is a recognized need for the early detection of gestational diabetes, and a single blood test, if reliable, would be advantageous. Because serum albumin and total protein are glycosylated and have short life spans, we investigated the usefulness of glycosylated albumin and glycosylated protein in the detection of gestational diabetes. We studied five groups, each with 20 subjects: nonpregnant and pregnant controls, nonpregnant and pregnant insulin-dependent diabetic (IDDM) patients, and gestational diabetic patients. All patients with no history of diabetes had an oral glucose tolerance test to define their carbohydrate status.
Our results showed that percent glycosylated albumin and percent glycosylated proteinwere significantly elevated in both groups of IDDM patients compared with the other groups. However, gestational diabetic patients had glycosylated albumin and glycosylated protein values similar to those of both control groups. Both glycosylated albumin and glycosylated protein correlated well with HbA1c determinations. Thus, glycosylated albumin and glycosylated protein may be a good index of glycemic control, but they are of little value in the diagnosis of gestational diabetes because of a lack of sensitivity: 8 and 3% for glycosylated albumin and glycosylated protein, respectively.
Assessment of Glycosylated Hemoglobin Measurement With Sample Collection Papers
Authors: Broussolle Christiane , Saudek Christopher D 
Published: March 2007

It would be advantageous to be able to measure glycosylated hemoglobin (GHb) from a sample of blood dried on paper and sent to the physician by the patient. Indeed, such a technique has been introduced by Isolab (Akron, OH). We tested the validity of the method to determine whether 1) applying the blood to paper and immediately assaying it correlates with the same sample assayed by the usual wholeblood technique, 2) the size of sample applied to paper affects apparent GHb results, 3) time and temperature of storage of the sample paper affect apparent GHb resu ts, and 4) plasma glucose concentration of the sample affects GHb results.
The GHb of samples assayed immediately after application to sample paper versus those assayed as whole blood showed very good correlation (r = .93, P &lt; .001). Volume of the drop of blood applied to paper (25–100 μl) did not affect results. However, there was a dramatic, temperature-dependent increase in apparent GHb when samples were stored on sample paper, averaging 12.5, 16.3, and 19.5% when stored at room temperature for 3, 6, and 9 days, respectively. Overall, apparent GHb rose from 1.3-fold in 3 days at 4°C to 3.8-fold in 9 days at 37°C. The rate of GHb formation was proportional to plasma glucose concentration, but removal of free glucose by ethanol or glucose oxidase did not yield consistent results for this method. We conclude that these sample papers are not useful as an approach to collecting blood samples for GHb measurement.
Absorption Kinetics and Action Profiles After Sequential Subcutaneous Administration of Human Soluble and Lente Insulin Through one Needle
Authors: Bilo Henk J , Heine Robert J , Sikkenk Anneke C , van der Meer Jan , van der Veen ED A 
Published: March 2007

The effects of sequential administration through one needle of human soluble and human lente insulin on plasma insulin levels and action profiles, assessed with glucose clamping, were studied in six healthy volunteers. Insulin kinetics after administration of human soluble insulin (0.22 IU/kg) alone were compared with those after sequential administration of 1) human soluble insulin followed by human lente insulin and 2) human lente insulin followed by human soluble insulin. Total insulin dose in both sequences was 0.55 IU/kg, 40% of which was short-acting insulin.
Plasma insulin levels were not significantly different at any time point between 0 and 240 min after soluble insulin compared with either combination. Although insulin levels were slightly but significantly lower at 30 and 105 min after lente followed by soluble insulin compared with soluble followed by lente insulin, these differences probably reflect chance occurrences. Glucose requirements were not significantly different after either of the three administrations.
We therefore conclude that the unwanted retarding effect after mixing of human soluble insulin with human lente insulin in the syringe on the onset of action of the soluble insulin can be prevented by sequential subcutaneous injection of these insulins with two syringes through one needle.
Intravenous Insulin Infusion to Simulate Subcutaneous Absorption: Bioavailability and Metabolic Sequelae
Authors: Watanabe Richard M , Vølund Aage , Bergman Richard N 
Published: March 2007

Objective
To determine the bioavailability and bioactivity of subcutaneously injected insulin.

Research Design and Methods
A randomized block design with six male mongrel dogs as subjects. In protocol 1, purified pork insulin was infused intravenously to simulate the pattern of appearance in the blood that would have been expected from subcutaneous injection. Three intravenous doses (0.05, 0.10, and 0.15 U/kg) were infused on separate days in a pattern (0-300 min) designed to ~ simulate the absorption rate of subcutaneously injected insulin. In protocol 2, interscapular subcutaneous injections of pork insulin at 0.10 U/kg were made.

Results
Integrated insulin, decrement in plasma glucose, and maximal glucose clearance for subcutaneous injection experiments were similar to intravenous infusion of equal dose (P &gt; 0.10) but significantly different from low-dose infusions (P &lt; 0.025). Similar results were observed for hepatic glucose output and glucose uptake. Hypoglycemia elicited counterregulatory responses that appeared to be under a threshold differentiated at a plasma glucose of ~ 3 mM. Integrated insulin was plotted against insulin dose to create dose-response curves for intravenous data. The curve was then used to predict the actual appearance rate of insulin in plasma for subcutaneous injection. The estimated bioavailability of subcutaneous insulin was 103.0 ± 10.5% of the injected dose.

Conclusions
We concluded that, in dogs, insulin delivered subcutaneously in the interscapular area is not significantly degraded before absorption, resulting in metabolic effects equal to intravenous insulin infusion of equivalent dose.
Relationship Between Normal Oral Glucose Tolerance Test in Women at Risk for Gestational Diabetes and Large for Gestational Age Infants
Authors: Phillipou George 
Published: March 2007

Objective
To determine whether the glycemic status of pregnant women with a normal 3-h 100-g oral glucose tolerance test (OGTT) is related to outcome with respect to large for gestational age (LGA) infants.

Research Design and Methods
A prospective study of 2631 women was conducted. One hundred seventy-six women had an OGTT based either on a 1-h 50-g OGTT (n = 105) or clinical risk factors (n = 71). Thirty-three women were diagnosed as having gestational diabetes mellitus.

Results
Negligible discriminatory capacity for the variables with respect to prediction of LGA infants was indicated by the areas under the receiver operating characteristic (ROC) curves for fasting blood glucose, 2-h OGTT blood glucose, and the OGTT response curve area for women with a normal OGTT (n = 143). However, a statistically significant increased incidence of LGA infants was established for both the OGTT-positive and normal OGTT groups (P &lt; 0.0001). Multiparity, a maternal weight &gt; 70 kg, and birth of a male infant were other factors associated with a significantly increased frequency of LGA infants.

Conclusions
The results may be interpreted as either indicating a role for confounding variables, i.e., maternal weight, multiparity, and birth of a male infant, or the imprecision of the OGTT in assessing physiologically important changes in maternal hyperglycemia.