Rendezvous-guidance trajectory planning for robotic dynamic obstacle avoidance and interception.

This correspondence presents a novel online trajectory-planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also referred to as rendezvous). The proposed time-optimal interception method is a hybrid algorithm that augments a novel rendezvous-guidance (RG) technique with the velocity-obstacle approach, for obstacle avoidance, first reported by Fiorini and Shiller. The obstacle-avoidance algorithm itself could not be used in its original form and had to be modified to ensure that the online planned path deviates minimally from the one generated by the RG algorithm. Extensive simulation and experimental analyses, some of which are reported in this correspondence, have clearly demonstrated the tangible time efficiency of the proposed interception method.     

Hybrid Approach for Addressing Uncertainty in Risk Assessments

Parameter uncertainty is a major aspect of the model-based estimation of the risk of human exposure to pollutants. The Monte Carlo method, which applies probability theory to address model parameter uncertainty, relies on a statistical representation of available information. In recent years, other uncertainty theories have been proposed as alternative approaches to address model parameter uncertainty in situations where available information is insufficient to identify statistically representative probability distributions, due in particular to data scarcity. The simplest such theory is possibility theory, which uses so-called fuzzy numbers to represent model parameter uncertainty. In practice, it may occur that certain model parameters can be reasonably represented by probability distributions, because there are sufficient data available to substantiate such distributions by statistical analysis, while others are better represented by fuzzy numbers (due to data scarcity). The question then arises as to how these two modes of representation of model parameter uncertainty can be combined for the purpose of estimating the risk of exposure. This paper proposes an approach (termed a hybrid approach) which combines Monte Carlo random sampling of probability distribution functions with fuzzy calculus. The approach is applied to a real case of estimation of human exposure, via vegetable consumption, to cadmium present in the surficial soils of an industrial site located in the north of France. The application illustrates the potential of the proposed approach, which allows the uncertainty affecting model parameters to be represented in a way that is consistent with the information at hand. Also, because the hybrid approach takes advantage of the “rich” information provided by probability distributions, while retaining the conservative character of fuzzy calculus, it is believed to hold value in terms of a “reasonable” application of the precautionary principle.     

Neuropsychological and psychosocial effects of the FMR-1 full mutation: Case report of monozygotic twins discordant for the fragile X syndrome.

An extensive evaluation was conducted with 16-yr-old monozygotic twins concordant for the fragile X full mutation but discordant for mental retardation. The clearly affected twin had an IQ score of 47; 77% of her neuropsychological z scores were at least 2 SDs below average. Her sister had an IQ score of 105 and average neuropsychological performance. However, each girl demonstrated relative verbal strengths and visual-spatial weaknesses. Their parents rated each girl as having significant problems with attention, conduct, anxiety-withdrawal, and hyperactivity. The girls did not rate themselves as having significant anxiety. These findings are consistent with group data on females with fragile X and demonstrate the wide range of effects associated with the fragile X full mutation. This case report implicates the importance of a psychosocial phenotype of fragile X independent of cognitive ability level. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Les qualités psychométriques de l'échelle de comportements d'adaptation Loranger-Pépin.

Presents results of 3 studies on the psychometric properties of the LP-ABC (M. Loranger and M. Pépin, 1993), a French-language instrument for assessing general functioning in adults with mental retardation. The studies involved a total of 299 male and female Canadian adults with mental retardation. Results confirm the internal consistency, construct validity, criterion validity, discriminant validity, interrater reliability, and test–retest reliability of the LP-ABC. (English abstract) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Effects of benfluorex metabolites on membrane fluidity and insulin-related processes

Hepatocyte growth factor (HGF) is a potent mitogen for the maturation of hepatocytes in vitro which plays a role in liver regeneration in vivo. In addition, transforming growth factor-beta 1 (TGF-beta 1) is also a potent regulator of liver regeneration. In attempting to clarify the mechanisms related to liver regeneration after partial hepatectomy, we investigated the expression of HGF and TGF-beta 1 in rats with liver cirrhosis (LC). A rat model of LC was prepared using carbon tetrachloride (CCl4). The expression of HGF mRNA in both the LC and control groups showed a similar time-course with the highest expression seen at 18h after a 70% hepatectomy. The expression of TGF-beta 1 mRNA peaked at 18h after partial hepatectomy in the LC group and at 48h in the control group. The 5-bromo-2'-deoxyuridine (BrdU) labeling index for the LC group at 24, 48, and 72 h after partial hepatectomy was 9.2%, 5.9%, and 1.8%, while for the control group it was 7.0%, 11.7%, and 6.8%, respectively. The BrdU labeling index in the LC group was thus suppressed earlier than that in the control group. We therefore postulate that regeneration of the remnant liver in the presence of LC accelerates immediately after partial hepatectomy, but the extent of regeneration is insufficient because of an early cessation due to an early expression of TGF-beta 1.     

Effect of naftidrofuryl (LS129) on axonal growth

Wistar rats, eight days old, were subjected to permanent bilateral forebrain ischemia, followed by hypoxia for 15 minutes. A cerebral infarct, mainly involving the cerebral neocortex, hippocampus, amygdala, striatum and subcortical white matter was produced. Neurons and glia showing punctate chromatin condensation and karyorrhectic cells were observed 12 hours after hypoxia-ischemia. Their number increased during the first two days and recruitment of cells with degenerating nuclei occurred until day five. In situ labeling of nuclear DNA fragmentation stained many normal-appearing nuclei, as well as punctate chromatin condensations and nuclear fragments in karyorrhectic cells. Delayed neuronal death in the CA1 area of the hippocampus was observed after 20 minutes of transient forebrain ischemia in the adult gerbil. In situ labeling of nuclear DNA fragmentation demonstrated stained punctate chromatin condensation in a few degenerating cells at 48 hours post-ischemia. Substantial labeling of CA1 neurons occurred in the fourth day. Agarose gel electrophoresis of extracted brain DNA from ischemic infant rats and adult gerbils showed a ladder-type pattern which is typical of nuclear DNA fragmentation into oligonucleosomal fragments (internucleosomal cleavage). These findings suggest that endonuclease(s) activation may play a role in cell death induced by different forms of hypoxia-ischemia.     

Identification and disruption of a plant shaker-like outward channel involved in K+ release into the xylem sap

SKOR, a K+ channel identified in Arabidopsis, displays the typical hydrophobic core of the Shaker channel superfamily, a cyclic nucleotide-binding domain, and an ankyrin domain. Expression in Xenopus oocytes identified SKOR as the first member of the Shaker family in plants to be endowed with outwardly rectifying properties. SKOR expression is localized in root stelar tissues. A knockout mutant shows both lower shoot K+ content and lower xylem sap K+ concentration, indicating that SKOR is involved in K+ release into the xylem sap toward the shoots. SKOR expression is strongly inhibited by the stress phytohormone abscisic acid, supporting the hypothesis that control of K+ translocation toward the shoots is part of the plant response to water stress.