Route planning in a four-dimensional environment

Robots must be able to function in the real world. The real world involves processes and agents that move independently of the actions of the robot, sometimes in an unpredictable manner. A real-time integrated route planning and spatial representation system for planning routes through dynamic domains is presented. The system will find the safest most efficient route through space-time as described by a set of user defined evaluation functions. Because the route planning algorthims is highly parallel and can run on an SIMD machine in O(p) time (p is the length of a path), the system will find real-time paths through unpredictable domains when used in an incremental mode. Spatial representation, an SIMD algorithm for route planning in a dynamic domain, and results from an implementation on a traditional computer architecture are discussed

Assessment of the performance of the Chilbolton 3-GHz Advanced Meteorological radar for cloud-top height retrieval

The Chilbolton 3-GHz Advanced Meteorological Radar (CAMRa), which is mounted on a fully steerable 25 metre dish, can provide three-dimensional information on the presence of hydrometeors. We investigate the potential for this radar to make useful measurements of low-altitude liquid water cloud structure. In order to assess the cloud-height assignment capabilities of the 3-GHz radar, low-level cloud-top heights were retrieved from CAMRa measurements made between May and July 2003 and compared with cloud-top heights retrieved from a vertically pointing 94-GHz radar that operates alongside CAMRa. The average difference between 94-GHz and 3-GHz radar derived cloud-top heights is shown to be -0.1±0.4 km. In order to assess the capability of 3-GHz radar scans to be used for satellite-derived cloud-top height validation, Multi-angle Imaging SpectroRadiometer (MISR) cloud-top heights were compared with both 94-GHz and 3-GHz radar retrievals. The average difference between 94-GHz radar and MISR cloud-top heights is shown to be 0.1±0.3 km while the 3-GHz radar and MISR average cloud-top height difference is shown to be –0.2±0.6 km. In assessing the value of the CAMRa measurements, the problems associated with low reflectivity values from stratiform liquid water clouds, ground clutter, and Bragg scattering resulting from turbulent mixing are all addressed. We show that in spite of the difficulties, the potential exists for CAMRa measurements to contribute significantly to liquid water cloud-top height retrievals leading to the production of twodimensional transects (i.e. maps) of cloud-top height

Design, characterization, and fabrication of solar-retroreflective cool-wall materials

Raising urban albedo increases the fraction of incident sunlight returned to outer space, cooling cities and their buildings. We evaluated the angular distribution of solar radiation incident on exterior walls in 17 U S. climates to develop performance parameters for solar-retroreflective walls, then applied first-principle physics and ray-tracing simulations to explore designs. Our analysis indicates that retroreflective walls must function at large incidence angles to reflect a substantial portion of summer sunlight, and that this will be difficult to attain with materials that rely on total internal reflection. Gonio-spectrophotometer measurements of the solar spectral bi-directional reflectivity of a bicycle reflector showed little to no retroreflection at large incidence angles. Visual comparisons of retroreflection to specular first-surface reflection for four different retroreflective safety films using violet and green lasers suggest their retroreflection to be no greater than 0.09 at incidence angles up to 45°, and no greater than 0.30 at incidence angles of up to 70°. Attempts to produce a two-surface retroreflector with orthogonal mirror grooves by cutting and polishing an aluminum block indicate that residual surface roughness impedes retroreflection. Ongoing efforts focus on forming orthogonal surfaces with aluminized Mylar film, a material with very high specular reflectance across the solar spectrum. We investigated (1) folding or stamping a free film; (2) adhering the film to a pre-shaped substrate; or (3) attaching the film to a flat ductile substrate, then shaping. The latter two methods were more successful but yielded imperfect right angles

Refinement of arsenic attributable health risks in rural Pakistan using population specific dietary intake values

Background: Previous risk assessment studies have often utilised generic consumption or intake values when evaluating ingestion exposure pathways. If these values do not accurately reflect the country or scenario in question, the resulting risk assessment will not provide a meaningful representation of cancer risks in that particular country/scenario. Objectives: This study sought to determine water and food intake parameters for one region in South Asia, rural Pakistan, and assess the role population specific intake parameters play in cancer risk assessment. Methods: A questionnaire was developed to collect data on sociodemographic features and 24-hour water and food consumption patterns from a rural community. The impact of dietary differences on cancer susceptibility linked to arsenic exposure was evaluated by calculating cancer risks using the data collected in the current study against standard water and food intake levels for the USA, Europe and Asia. A probabilistic cancer risk was performed for each set of intake values of this study. Results: Average daily total water intake based on drinking direct plain water and indirect water from food and beverages was found to be 3.5 L day-1 (95% CI: 3.38, 3.57) exceeding the US Environmental Protection Agency’s default (2.5 L day-1) and World Health Organization’s recommended intake value (2 L day-1). Average daily rice intake (469 g day-1) was found to be lower than in India and Bangladesh whereas wheat intake (402 g day−1) was higher than intake reported for USA, Europe and Asian sub-regions. Consequently, arsenic-associated cumulative cancer risks determined for daily water intake was found to be 17 in children of 3-6 years (95% CI: 0.0014, 0.0017), 14 in children of age 6-16 years (95% CI: 0.001, 0.0011) and 6 in adults of 16-67 years (95% CI: 0.0006, 0.0006) in a population size of 10000. This is higher than the risks estimated using the US Environmental Protection Agency and World Health Organization’s default recommended water intake levels. Rice intake data showed early life cumulative cancer risks of 15 in 10000 for children of 3-6 years (95% CI: 0.0012, 0.0015), 14 in children of 6-16 years (95% CI: 0.0011, 0.0014) and later life risk of 8 in adults (95% CI: 0.0008, 0.0008) in a population of 10000. This is lower than cancer risks in countries with higher rice intake and elevated arsenic levels (Bangladesh and India). Cumulative cancer risk from arsenic exposure showed the relative risk contribution from total water to be51%, from rice to be44% and wheat intake 5%. Conclusions: The study demonstrates the need to use population specific dietary information for risk assessment and risk management studies. Probabilistic risk assessment concluded the importance of dietary intake in estimating cancer risk, along with arsenic concentrations in water or food and age of exposed rural population

Collaboration and teamwork: immersion and presence in an online learning environment

In the world of OTIS, an online Internet School for occupational therapists, students from four European countries were encouraged to work collaboratively through problem-based learning by interacting with each other in a virtual semi-immersive environment. This paper describes, often in their own words, the experience of European occupational therapy students working together across national and cultural boundaries. Collaboration and teamwork were facilitated exclusively through an online environment, since the students never met each other physically during the OTIS pilot course. The aim of the paper is to explore the observations that here was little interaction between students from different tutorial groups and virtual teamwork developed in each of the cross-cultural tutorial groups. Synchronous data from the students was captured during tutorial sessions and peer-booked meetings and analysed using the qualitative constructs of ‘immersion’, ‘presence’ and ‘reflection in learning’. The findings indicate that ‘immersion’ was experienced only to a certain extent. However, both ‘presence’ and shared presence were found by the students, within their tutorial groups, to help collaboration and teamwork. Other evidence suggests that communities of interest were established. Further study is proposed to support group work in an online learning environment. It is possible to conclude that collaborative systems can be designed, which encourage students to build trust and teamwork in a cross cultural online learning environment.</p

Use of computer-aided detection (CAD) tools in screening mammography: a multidisciplinary investigation

We summarise a set of analyses and studies conducted to assess the effects of the use of a computer-aided detection (CAD) tool in breast screening. We have used an interdisciplinary approach that combines: (a) statistical analyses inspired by reliability modelling in engineering; (b) experimental studies of decisions of mammography experts using the tool, interpreted in the light of human factors psychology; and (c) ethnographic observations of the use of the tool both in trial conditions and in everyday screening practice. Our investigations have shown patterns of human behaviour and effects of computer-based advice that would not have been revealed by a standard clinical trial approach. For example, we found that the negligible measured effect of CAD could be explained by a range of effects on experts' decisions, beneficial in some cases and detrimental in others. There is some evidence of the latter effects being due to the experts using the computer tool differently from the intentions of the developers. We integrate insights from the different pieces of evidence and highlight their implications for the design, evaluation and deployment of this sort of computer tool

Path Planning Through Time and Space in Dynamic Domains

Realistic robot problems involve navigating the robot through time as well as space. The obstacles that a robot must avoid and the pathways on which it travels are subject to changes throughout time. These changes can occur in a predictable or unpredictable fashion. This paper presents an integrated route planning and spatial representation system that allows paths to be calculated in dynamic domains. The path planner finds the "best route" through a given n-dimensional space. The "best route" is defined as the path through space-time with the best score as determined by a set of user-defined evaluatio

Human exposure assessment of different arsenic species in household water sources in a high risk arsenic area

Understanding arsenic speciation in water is important for managing the potential health risks associated with chronic arsenic exposure. Most arsenic monitoring studies to date have only measured total arsenic, with few looking at arsenic species. This study assessed 228 ground water sources in six unstudied villages in Pakistan for total, inorganic and organic arsenic species using ion chromatography inductively coupled plasma collision reaction cell mass spectrometry. The concentration levels approached 3090 μg L−1 (95% CI, 130.31, 253.06) for total arsenic with a median of 57.55 µg L-1, 3430 μg L−1 (median=52) for arsenate (As+5) and 100 μg L−1 (median=0.37) for arsenite (As+3). Exceedance of the WHO provisional guideline value for arsenic in drinking water (10 μg L−1) occurred in 89% of water sources. Arsenic was present mainly as arsenate (As+5). Average daily intake of total arsenic for 398 residents living in the sampled houses was found up to 236.51 µg kg−1 day−1. This exposure estimate has indicated that 63% of rural residents exceeded the World Health Organization’s provisional tolerable daily intake (PTDI) of 2.1 µg kg−1 day−1 body weight. Average daily intake of As+5 was found to be 15.63 µg kg−1 day−1 (95% CI, 5.53, 25.73) for children ≤ 16 and 15.07 µg kg−1 day−1 (95% CI, 10.33, 18.02) for adults. A mean daily intake of 0.09 µg kg−1 day−1 was determined for As+3 for children and 0.26 µg kg−1 day−1 for adults. Organic arsenic species such as monomethylarsonic acid (MMA), dimethylarsinic acid (DMA) and Arsenobetaine (AsB) were found to be below their method detection limits (MDLs)

Thermoelectric transport in strained Si and Si/Ge heterostructures

The anisotropic thermoelectric transport properties of bulk silicon strained in [111]-direction were studied by detailed first-principles calculations focussing on a possible enhancement of the power factor. Electron as well as hole doping were examined in a broad doping and temperature range. At low temperature and low doping an enhancement of the power factor was obtained for compressive and tensile strain in the electron-doped case and for compressive strain in the hole-doped case. For the thermoelectrically more important high temperature and high doping regime a slight enhancement of the power factor was only found under small compressive strain with the power factor overall being robust against applied strain. To extend our findings the anisotropic thermoelectric transport of an [111]-oriented Si/Ge superlattice was investigated. Here, the cross-plane power factor under hole-doping was drastically suppressed due to quantum-well effects, while under electron-doping an enhanced power factor was found. With that, we state a figure of merit of ZT$=0.2$ and ZT$=1.4$ at T=\unit[300]{K} and T=\unit[900]{K} for the electron-doped [111]-oriented Si/Ge superlattice. All results are discussed in terms of band structure features

Aircraft remote sensing of soil moisture and hydrologic parameters, Taylor Creek, Florida, and Little River, Georgia, 1979 data report

Experiments were conducted to evaluate aircraft remote sensing techniques for hydrology in a wide range of physiographic and climatic regions using several sensor platforms. The data were collected in late 1978 and during 1979 in two humid areas--Taylor Creek, Fla., and Little River, Ga. Soil moisture measurements and climatic observations are presented as well as the remote sensing data collected using thermal infrared, passive microwave, and active microwave systems