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In December 2020, the Western North Pacific was active with extratropical low-pressure weather events. During the final week of 2020, there was a record-breaking 1092 millibar high-pressure system over Mongolia, and 24 hours later, a 921 millibar extratropical low-pressure system over Western Alaska. These two extremes were associated with pressure anomalies for the basin and a jet superposition of the polar and subtropical jet streams. Superposition events are rare but occur in this region during winter. The Climate Forecast System Reanalysis (CFSR) data was used to examine jet superposition using 200 and 300 millibar winds and potential vorticity channels or waveguides in relation to the development of extratropical cyclones. Results indicated that PV channeling from Siberia in a northern airstream combined with jet superposition between the subtropical and polar jets resulted in rapid intensification. Using PV channels and their merging as an indicator could be a valuable forecast tool for extratropical cyclone intensification. Analyzing events such as these will allow forecasters to better prepare Naval assets in the Western Pacific for extreme events., Lieutenant, United States Navy, Approved for public release. Distribution is unlimited.

In early aircraft, the amount of fuel the aircraft could carry usually determined how long it could stay in flight. Today, with aircraft being able to air refuel, the time they are able to stay aloft is based more on human needs, one being waste management. Voiding urine in a single-seat ejection seat aircraft has been an issue for male pilots in the past, but with the increasing numbers of female pilots in single-seat aircraft, finding a solution has intensified. This paper reviews the various methods that are available for both male and female pilots, including the newest method which allows the pilot to vacuum urine into a containment vessel. Future improvements in waste management will continue to progress with time and technology. While these may involve improving ways to urinate in the cockpit, they could also involve ways to perhaps slow the production of urine by the body. But for the present, pilots will have to select from a pool of the devices currently available.

In early aircraft, the amount of fuel the aircraft could carry usually determined how long it could stay in flight. Today, with aircraft being able to air refuel, the time they are able to stay aloft is based more on human needs, one being waste management. Voiding urine in a single-seat ejection seat aircraft has been an issue for male pilots in the past, but with the increasing numbers of female pilots in single-seat aircraft, finding a solution has intensified. This paper reviews the various methods that are available for both male and female pilots, including the newest method which allows the pilot to vacuum urine into a containment vessel. Future improvements in waste management will continue to progress with time and technology. While these may involve improving ways to urinate in the cockpit, they could also involve ways to perhaps slow the production of urine by the body. But for the present, pilots will have to select from a pool of the devices currently available.

In early aircraft, the amount of fuel the aircraft could carry usually determined how long it could stay in flight. Today, with aircraft being able to air refuel, the time they are able to stay aloft is based more on human needs, one being waste management. Voiding urine in a single-seat ejection seat aircraft has been an issue for male pilots in the past, but with the increasing numbers of female pilots in single-seat aircraft, finding a solution has intensified. This paper reviews the various methods that are available for both male and female pilots, including the newest method which allows the pilot to vacuum urine into a containment vessel. Future improvements in waste management will continue to progress with time and technology. While these may involve improving ways to urinate in the cockpit, they could also involve ways to perhaps slow the production of urine by the body. But for the present, pilots will have to select from a pool of the devices currently available.

Observations indicate that turbulent motions are present on most massive star surfaces. Starting from the observed phenomena of spectral lines with widths much larger than thermal broadening (e.g. micro- and macroturbulence) to the detection of stochastic low-frequency variability (SLFV) in the Transiting Exoplanet Survey Satellite photometry, these stars clearly have large scale turbulent motions on their surfaces. The cause of this turbulence is debated, with near-surface convection zones, core internal gravity waves, and wind variability being proposed. Our 3D grey radiation hydrodynamic (RHD) models characterized the surfaces' convective dynamics driven by near-surface convection zones and provided a reasonable match to the observed SLFV in the most luminous massive stars. We now explore the complex emitting surfaces of these 3D RHD models, which strongly violate the 1D assumption of a plane parallel atmosphere. By post-processing the grey RHD models with the Monte Carlo radiation transport code SEDONA, we synthesize stellar spectra and extract information from the broadening of individual photospheric lines. The use of SEDONA enables the calculation of the viewing angle and temporal dependence of spectral absorption line profiles. Combining uncorrelated temporal snapshots together, we compare the broadening from the 3D RHD models' velocity fields to the thermal broadening of the extended emitting region, showing that our synthesized spectral lines closely resemble the observed macroturbulent broadening from similarly luminous stars. More generally, the new techniques we have developed will allow for systematic studies of the origin of turbulent velocity broadening from any future 3D simulations., Comment: 16 pages, 9 figures, 1 table

In early aircraft, the amount of fuel the aircraft could carry usually determined how long it could stay in flight. Today, with aircraft being able to air refuel, the time they are able to stay aloft is based more on human needs, one being waste management. Voiding urine in a single-seat ejection seat aircraft has been an issue for male pilots in the past, but with the increasing numbers of female pilots in single-seat aircraft, finding a solution has intensified. This paper reviews the various methods that are available for both male and female pilots, including the newest method which allows the pilot to vacuum urine into a containment vessel. Future improvements in waste management will continue to progress with time and technology. While these may involve improving ways to urinate in the cockpit, they could also involve ways to perhaps slow the production of urine by the body. But for the present, pilots will have to select from a pool of the devices currently available.

Increasing main sequence stellar luminosity with stellar mass leads to the eventual dominance of radiation pressure in stellar envelope hydrostatic balance. As the luminosity approaches the Eddington limit, additional instabilities (beyond conventional convection) can occur. These instabilities readily manifest in the outer envelopes of OB stars, where the opacity increase associated with iron yields density and gas pressure inversions in 1D models. Additionally, recent photometric surveys (e.g. TESS) have detected excess broadband low frequency variability in power spectra of OB star lightcurves, called stochastic low frequency variability (SLFV). This motivates our novel 3D Athena++ radiation hydrodynamical (RHD) simulations of two 35$\,$M$_\odot$ star envelopes (the outer $\approx$15$\%$ of the stellar radial extent), one on the zero-age main sequence and the other in the middle of the main sequence. Both models exhibit turbulent motion far above and below the conventional iron opacity peak convection zone (FeCZ), obliterating any ``quiet" part of the near-surface region and leading to velocities at the photosphere of 10-100$\,$km$\,$s$^{-1}$, directly agreeing with spectroscopic data. Surface turbulence also produces SLFV in model lightcurves with amplitudes and power-law slopes that are strikingly similar to those of observed stars. The characteristic frequencies associated with SLFV in our models are comparable to the thermal time in the FeCZ ($\approx$3-7$\,$days$^{-1}$). These simulations, which have no free parameters, are directly validated by observations and, though more models are needed, we remain optimistic that 3D RHD models of main sequence O star envelopes exhibit SLFV originating from the FeCZ., Comment: 7 pages, 5 figures

Some emergency medicine research, especially retrospective studies using medical records review, rely on waiver of consent for use of personal health information (PHI) contained in clinical records. This is a secondary use of PHI and waiver of consent raises ethical, legal and practical issues. Granting of a waiver of consent is often (but not always) approved by a human research ethics committee and requires separate but inter-related consideration of the legal and ethical issues. In part, this involves a balancing of the public interest versus the risk to privacy and an evaluation of whether subjects would, mostly likely, have agreed to the use of their PHI had they been asked. To date, there are no robust data about whether use of PHI without consent for research would be acceptable to people who attend Australasian EDs for care.

Increasing main sequence stellar luminosity with stellar mass leads to the eventual dominance of radiation pressure in stellar envelope hydrostatic balance. As the luminosity approaches the Eddington limit, additional instabilities (beyond conventional convection) can occur. These instabilities readily manifest in the outer envelopes of OB stars, where the opacity increase associated with iron yields density and gas pressure inversions in 1D models. Additionally, recent photometric surveys (e.g. TESS) have detected excess broadband low frequency variability in power spectra of OB star lightcurves, called stochastic low frequency variability (SLFV). This motivates our novel 3D Athena++ radiation hydrodynamical (RHD) simulations of two 35$\,$M$_\odot$ star envelopes (the outer $\approx$15$\%$ of the stellar radial extent), one on the zero-age main sequence and the other in the middle of the main sequence. Both models exhibit turbulent motion far above and below the conventional iron opacity peak convection zone (FeCZ), obliterating any ``quiet" part of the near-surface region and leading to velocities at the photosphere of 10-100$\,$km$\,$s$^{-1}$, directly agreeing with spectroscopic data. Surface turbulence also produces SLFV in model lightcurves with amplitudes and power-law slopes that are strikingly similar to those of observed stars. The characteristic frequencies associated with SLFV in our models are comparable to the thermal time in the FeCZ ($\approx$3-7$\,$days$^{-1}$). These simulations, which have no free parameters, are directly validated by observations and, though more models are needed, we remain optimistic that 3D RHD models of main sequence O star envelopes exhibit SLFV originating from the FeCZ., Comment: 7 pages, 5 figures

Reliable safe water supply is a pillar of society and a key to public health. The Nordic countries have an abundance of clean fresh water as a source for drinking water supplies. They have followed developments in safeguarding water, both the recommendations of the World Health Organization framework for safe drinking water and European legislation. Worldwide, including the Nordic countries, small water supplies are less compliant with water safety regulation. The forthcoming EU directive on drinking water require risk-based approaches and improved transparency on water quality. This research looks at the Nordic frameworks for safe water supply, with emphasis on risk-based approaches and smaller systems. We analyzed the legal frameworks for safe water, the structure of the water sector across the Nordic countries and explored how prepared these countries are to meet these requirements. Our findings show that, while legal requirements are mostly in place, delivery of information to the public needs to be improved. Most Nordic countries are in the process of implementing risk-based management in large and medium size water supplies, whereas small supplies are lagging. We conclude that a key to success is increased training and support for small supplies. We suggest wider adoption of the Nordic model of cooperation with benchmarking of safe water for all to transfer knowledge between the countries. This work provides insights into challenges and opportunities for the Nordic countries and provides insights relevant to countries worldwide in their effort towards realization of SDG Target 6.1.

Common variable star classifiers are built only with the goal of producing the correct class labels, leaving much of the multi-task capability of deep neural networks unexplored. We present a periodic light curve classifier that combines a recurrent neural network autoencoder for unsupervised feature extraction and a dual-purpose estimation network for supervised classification and novelty detection. The estimation network optimizes a Gaussian mixture model in the reduced-dimension feature space, where each Gaussian component corresponds to a variable class. An estimation network with a basic structure of a single hidden layer attains a cross-validation classification accuracy of ~99%, on par with the conventional workhorses, random forest classifiers. With the addition of photometric features, the network is capable of detecting previously unseen types of variability with precision 0.90, recall 0.96, and an F1 score of 0.93. The simultaneous training of the autoencoder and estimation network is found to be mutually beneficial, resulting in faster autoencoder convergence, and superior classification and novelty detection performance. The estimation network also delivers adequate results even when optimized with pre-trained autoencoder features, suggesting that it can readily extend existing classifiers to provide added novelty detection capabilities., Comment: 9 pages, 3 figures, 2 tables. Accepted to ApJ Letters

Common variable star classifiers are built only with the goal of producing the correct class labels, leaving much of the multi-task capability of deep neural networks unexplored. We present a periodic light curve classifier that combines a recurrent neural network autoencoder for unsupervised feature extraction and a dual-purpose estimation network for supervised classification and novelty detection. The estimation network optimizes a Gaussian mixture model in the reduced-dimension feature space, where each Gaussian component corresponds to a variable class. An estimation network with a basic structure of a single hidden layer attains a cross-validation classification accuracy of ~99%, on par with the conventional workhorses, random forest classifiers. With the addition of photometric features, the network is capable of detecting previously unseen types of variability with precision 0.90, recall 0.96, and an F1 score of 0.93. The simultaneous training of the autoencoder and estimation network is found to be mutually beneficial, resulting in faster autoencoder convergence, and superior classification and novelty detection performance. The estimation network also delivers adequate results even when optimized with pre-trained autoencoder features, suggesting that it can readily extend existing classifiers to provide added novelty detection capabilities., Comment: 9 pages, 3 figures, 2 tables. Accepted to ApJ Letters

Background Recent studies have provided strong evidence that variation in the gene neurocan (NCAN, rs1064395) is a common risk factor for bipolar disorder (BD) and schizophrenia. However, the possible relevance of NCAN variation to disease mechanisms in the human brain has not yet been explored. Thus, to identify a putative pathomechanism, we tested whether the risk allele has an influence on cortical thickness and folding in a well-characterized sample of patients with schizophrenia and healthy controls. Method Sixty-three patients and 65 controls underwent T1-weighted magnetic resonance imaging (MRI) and were genotyped for the single nucleotide polymorphism (SNP) rs1064395. Folding and thickness were analysed on a node-by-node basis using a surface-based approach (FreeSurfer). Results In patients, NCAN risk status (defined by AA and AG carriers) was found to be associated with higher folding in the right lateral occipital region and at a trend level for the left dorsolateral prefrontal cortex. Controls did not show any association (p>0.05). For cortical thickness, there was no significant effect in either patients or controls. Conclusions This study is the first to describe an effect of the NCAN risk variant on brain structure. Our data show that the NCAN risk allele influences cortical folding in the occipital and prefrontal cortex, which may establish disease susceptibility during neurodevelopment. The findings suggest that NCAN is involved in visual processing and top-down cognitive functioning. Both major cognitive processes are known to be disturbed in schizophrenia. Moreover, our study reveals new evidence for a specific genetic influence on local cortical folding in schizophrenia

Background Genetic variation in the gene encoding ZNF804A, a risk gene for schizophrenia, has been shown to affect brain functional endophenotypes of the disorder, while studies of white matter structure have been inconclusive. Method We analysed effects of ZNF804A single nucleotide polymorphism rs1344706 on grey and white matter using voxel-based morphometry (VBM) in high-resolution T1-weighted magnetic resonance imaging scans of 62 schizophrenia patients and 54 matched healthy controls. Results We found a significant (p<0.05, family-wise error corrected for multiple comparisons) interaction effect of diagnostic group x genotype for local grey matter in the left orbitofrontal and right and left lateral temporal cortices, where patients and controls showed diverging effects of genotype. Analysing the groups separately (at p<0.001, uncorrected), variation in rs1344706 showed effects on brain structure within the schizophrenia patients in several areas including the left and right inferior temporal, right supramarginal/superior temporal, right and left inferior frontal, left frontopolar, right and left dorsolateral/ventrolateral prefrontal cortices, and the right thalamus, as well as effects within the healthy controls in left lateral temporal, right anterior insula and left orbitofrontal cortical areas. We did not find effects of genotype of regional white matter in either of the two cohorts. Conclusions Our findings demonstrate effects of ZNF804A genetic variation on brain structure, with diverging regional effects in schizophrenia patients and healthy controls in frontal and temporal brain areas. These effects, however, might be dependent on the impact of other (genetic or non-genetic) disease factors

Charge detection mass spectrometry (CD-MS) has been used to determine the mass of double-stranded, circular DNA and single-stranded, circular DNA in the range of 2500 to 8000 base pairs (1.5-5.0 MDa). Simultaneous measurement of the charge and velocity of an electrostatically accelerated ion allows a mass determination of the ion, with instrument calibration determined independently of samples. Positive ion mass spectra of electrosprayed commercial DNA samples supplied in tris(hydroxymethyl)ethylenediaminetetraacetic acid buffer, diluted in 50 vol. % acetonitrile, were obtained without cleanup of the sample. A CD mass spectrum constructed from 3000 ion measurements takes 10 min to acquire and yields the DNA molecular mass directly (mass resolution = 6). The data collected represent progress toward a more automatable alternative to sizing of DNA by gel electrophoresis. In addition to the mass spectra, CD-MS generates charge versus mass plots, which provide another means to investigate the creation and fate of large electrospray ions.

Charge detection mass spectrometry (CD-MS) has been used to determine the mass of double-stranded, circular DNA and single-stranded, circular DNA in the range of 2500 to 8000 base pairs (1.5-5.0 MDa). Simultaneous measurement of the charge and velocity of an electrostatically accelerated ion allows a mass determination of the ion, with instrument calibration determined independently of samples. Positive ion mass spectra of electrosprayed commercial DNA samples supplied in tris(hydroxymethyl)ethylenediaminetetraacetic acid buffer, diluted in 50 vol. % acetonitrile, were obtained without cleanup of the sample. A CD mass spectrum constructed from 3000 ion measurements takes 10 min to acquire and yields the DNA molecular mass directly (mass resolution = 6). The data collected represent progress toward a more automatable alternative to sizing of DNA by gel electrophoresis. In addition to the mass spectra, CD-MS generates charge versus mass plots, which provide another means to investigate the creation and fate of large electrospray ions.

Item does not contain fulltext, MK2 kinase is a promising drug discovery target for the treatment of inflammatory diseases. Here, we describe the discovery of novel MK2 inhibitors using X-ray crystallography and structure-based drug design. The lead has in vivo efficacy in a short-term preclinical model.

Item does not contain fulltext, MK2 kinase is a promising drug discovery target for the treatment of inflammatory diseases. Here, we describe the discovery of novel MK2 inhibitors using X-ray crystallography and structure-based drug design. The lead has in vivo efficacy in a short-term preclinical model.

Item does not contain fulltext, MK2 kinase is a promising drug discovery target for the treatment of inflammatory diseases. Here, we describe the discovery of novel MK2 inhibitors using X-ray crystallography and structure-based drug design. The lead has in vivo efficacy in a short-term preclinical model.

Network theory provides various tools for investigating the structural or functional topology of many complex systems found in nature, technology and society. Nevertheless, it has recently been realised that a considerable number of systems of interest should be treated, more appropriately, as interacting networks or networks of networks. Here we introduce a novel graph-theoretical framework for studying the interaction structure between subnetworks embedded within a complex network of networks. This framework allows us to quantify the structural role of single vertices or whole subnetworks with respect to the interaction of a pair of subnetworks on local, mesoscopic and global topological scales. Climate networks have recently been shown to be a powerful tool for the analysis of climatological data. Applying the general framework for studying interacting networks, we introduce coupled climate subnetworks to represent and investigate the topology of statistical relationships between the fields of distinct climatological variables. Using coupled climate subnetworks to investigate the terrestrial atmosphere's three-dimensional geopotential height field uncovers known as well as interesting novel features of the atmosphere's vertical stratification and general circulation. Specifically, the new measure "cross-betweenness" identifies regions which are particularly important for mediating vertical wind field interactions. The promising results obtained by following the coupled climate subnetwork approach present a first step towards an improved understanding of the Earth system and its complex interacting components from a network perspective.

There are two distinct approaches to solving reinforcement learning problems, namely, searching in value function space and searching in policy space. Temporal difference methods and evolutionary algorithms are well-known examples of these approaches. Kaelbling, Littman and Moore recently provided an informative survey of temporal difference methods. This article focuses on the application of evolutionary algorithms to the reinforcement learning problem, emphasizing alternative policy representations, credit assignment methods, and problem-specific genetic operators. Strengths and weaknesses of the evolutionary approach to reinforcement learning are presented, along with a survey of representative applications.

Contains research objectives and summary of research on five research projects, with ten sub-topics., National Institutes of Health (Grant 1 RO1 NS10916-01), National Institutes of Health (Grant 5 RO1 NS11000-03), National Institutes of Health (Grant 1 RO1 NS11153-01), Harvard-M.I.T. Rehabilitation Engineering Center, U. S. Department of Health, Education, and Welfare (Grant 23-P-55854), National Institutes of Health (Grant 1 RO1 NS11680-01), National Institutes of Health (Grant 5 ROI NS11080-02), M.I.T. Health Sciences Fund, National Aeronautics and Space Administration (Grant NSG-2032), National Institutes of Health (Grant 5 TO1 GM01555-09), Massachusetts General Hospital Purchase Order F63853, Boston City Hospital Purchase Order 4338-75431

How can we facilitate human-robot teamwork? The teamwork literature has identified the need to know the capabilities of teammates. How can we integrate the knowledge of another capabilities for a justifiably intelligent teammate? This paper describes extensions to the cognitive architecture, ACT - R, and the use of artificial intelligence (AI) and cognitive science approaches to produce a more cognitively-plausible, autonomous robotic system that "mentally" simulates the decision-making of its teammate. The extensions to ACT-R added capabilities to interact with the real world through the robot's sensors and effectors and simulate the decision-making of its teammate. The AI applications provided visual sensor capabilities by methods clearly different than those used by humans. The integration of these approaches into intelligent team-based behavior is demonstrated on a mobile robot. Our "TeamBot" matches the descriptive work and theories on human teamwork. We illustrate our approach in a spatial, team-oriented task of a guard force responding appropriately to an alarm condition that requires the human and robot team to "man" two guard stations as soon as possible after the alarm., For presentation at the Association for the Advancement of Artificial Intelligence (AAAI) Conference on Artificial Intelligence (23rd) AAAI 2008, in Chicago, IL on 13-17 Jul 2008. The original document contains color images.

How should a robot represent and reason about spatial information when it needs to collaborate effectively with a human? The form of spatial representation that is useful for robot navigation may not be useful in higher-level reasoning or working with humans as a team member. To explore this question, we have extended previous work on how children and robots learn to play hide and seek to a human-robot team covertly approaching a moving target. We used the cognitive modeling system, ACT-R, with an added spatial module to support the robot's spatial reasoning. The robot interacted with a team member through voice, gestures, and movement during the team's covert approach of a moving target. This paper describes the new robotic system and its integration of metric, symbolic, and cognitive layers of spatial representation and reasoning for its individual and team behavior., Published in the Twenty-Second Conference on Artificial Intelligence (AAAI-07), held in Vancouver, Canada on 22-26 July 2007.

Human-Robot Interaction (HRI) has recently received considerable attention in the academic community, in labs, in technology companies, and through the media. Because of this attention, it is desirable to present a survey of HRI to serve as a tutorial to people outside the field and to promote discussion of a unified vision of HRI within the field. The goal of this review is to present a unified treatment of HRI-related problems, to identify key themes, and discuss challenge problems that are likely to shape the field in the near future. Although the review follows a survey structure, the goal of presenting a coherent "story" of HRI means that there are necessarily some well-written, intriguing, and influential papers that are not referenced. Instead of trying to survey every paper, we describe the HRI story from multiple perspectives with an eye toward identifying themes that cross applications. The survey attempts to include papers that represent a fair cross section of the universities, government efforts, industry labs, and countries that contribute to HRI, and a cross section of the disciplines that contribute to the field, such as human factors, robotics, cognitive psychology, and design., Published in "Foundations and Trends in Human-Computer Interaction," v1 n3 p203-275, 2007. Prepared in collaboration with Brigham Young University, Provo, UT.

Robotic hardware designs are becoming more complex as the variety and number of on-board sensors increase and as greater computational power is provided in ever-smaller packages on-board robots. These advances in hardware, however, do not automatically translate into better software for controlling complex robots. Evolutionary techniques hold the potential to solve many difficult problems in robotics which defy simple conventional approaches, but present many challenges as well. Numerous disciplines including artificial life, cognitive science and neural networks, rule-based systems, behavior-based control, genetic algorithms and other forms of evolutionary computation have contributed to shaping the current state of evolutionary robotics. This paper provides an overview of developments in the emerging field of evolutionary robotics, and discusses some of the opportunities and challenges which currently face practitioners in the field., Comment: 6 pages

How do children learn how to play hide and seek? At ages 3-4, children do not typically have perspective taking ability, so their hiding ability should be extremely limited. The authors show through a case study that a 3-1/2-year-old child can, in fact, play a credible game of hide and seek, even though she does not seem to have perspective taking ability. They propose that children are able to learn how to play hide and seek by learning the features and relations of objects (e.g., containment, under) and use that information to play a credible game of hide and seek. They model this hypothesis within the ACT-R cognitive architecture and put the model on a robot, which is able to mimic the child's hiding behavior. They also take the "hiding" model and use it as the basis for a "seeking" model. They suggest that using the same representations and procedures that a person uses allows better interaction between the human and robotic system.

For the last few years, our lab has been attempting to build robots that are similar to humans in a variety of ways. Our goal has been to build systems that think and act like a person rather than look like a person since the state of the art is not sufficient for a robot to look (even superficially) like a human person. We believe that there are at least two reasons to build robots that think and act like a human. First, how an artificial system acts has a profound effect on how people act toward the system. Second, how an artificial system thinks has a profound effect on how people interact with the system., Published in Cognition and Multi-Agent Interaction: From Cognitive Modeling to Social Simulation as Chapter 10, p252-278, 2006. ISBN 0521839645 (Hardcover).

The effect of microwave modification of colloidal TiO2 suspensions under extended periods of treatment is presented. The nanoparticulate TiO2 is compared and contrasted to similar convection hydrothermally treated TiO2 and a commercial titania product, namely Degussa P25. Microwave-treated samples were analyzed by X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), and Raman spectroscopy to determine their physicochemical characteristics. Comparative surface area analyses were performed by N2 adsorption and calculated from a Brunauer-Emmett-Teller (BET) isotherm. The complementary techniques of XRD and TEM showed good correlation between observed and calculated particle sizes (by application of the Scherrer equation), with the material being highly crystalline anatase TiO2, as identified by XRD and Raman. This investigation identified that extended periods of microwave hydrothermal treatment do not greatly enhance the crystallinity and primary grain size. Treatment of >180 min has a negative effect on crystallite growth; however, treatment up to this time had a significant effect on the material’s surface area. The limiting regime of Ostwald ripening for hydrothermal treatment is discussed in relation to the mechanism of microwave treatment, that is, rapid heating to temperature and extremely rapid rates of crystallization. The effect of these property modifications are further discussed in relation to photocatalytic and photoelectrochemical applications of TiO2 nanoparticles.

The effect of microwave modification of colloidal TiO2 suspensions under extended periods of treatment is presented. The nanoparticulate TiO2 is compared and contrasted to similar convection hydrothermally treated TiO2 and a commercial titania product, namely Degussa P25. Microwave-treated samples were analyzed by X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), and Raman spectroscopy to determine their physicochemical characteristics. Comparative surface area analyses were performed by N2 adsorption and calculated from a Brunauer-Emmett-Teller (BET) isotherm. The complementary techniques of XRD and TEM showed good correlation between observed and calculated particle sizes (by application of the Scherrer equation), with the material being highly crystalline anatase TiO2, as identified by XRD and Raman. This investigation identified that extended periods of microwave hydrothermal treatment do not greatly enhance the crystallinity and primary grain size. Treatment of >180 min has a negative effect on crystallite growth; however, treatment up to this time had a significant effect on the material’s surface area. The limiting regime of Ostwald ripening for hydrothermal treatment is discussed in relation to the mechanism of microwave treatment, that is, rapid heating to temperature and extremely rapid rates of crystallization. The effect of these property modifications are further discussed in relation to photocatalytic and photoelectrochemical applications of TiO2 nanoparticles.

The effect of microwave modification of colloidal TiO2 suspensions under extended periods of treatment is presented. The nanoparticulate TiO2 is compared and contrasted to similar convection hydrothermally treated TiO2 and a commercial titania product, namely Degussa P25. Microwave-treated samples were analyzed by X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), and Raman spectroscopy to determine their physicochemical characteristics. Comparative surface area analyses were performed by N2 adsorption and calculated from a Brunauer-Emmett-Teller (BET) isotherm. The complementary techniques of XRD and TEM showed good correlation between observed and calculated particle sizes (by application of the Scherrer equation), with the material being highly crystalline anatase TiO2, as identified by XRD and Raman. This investigation identified that extended periods of microwave hydrothermal treatment do not greatly enhance the crystallinity and primary grain size. Treatment of >180 min has a negative effect on crystallite growth; however, treatment up to this time had a significant effect on the material’s surface area. The limiting regime of Ostwald ripening for hydrothermal treatment is discussed in relation to the mechanism of microwave treatment, that is, rapid heating to temperature and extremely rapid rates of crystallization. The effect of these property modifications are further discussed in relation to photocatalytic and photoelectrochemical applications of TiO2 nanoparticles.

The effect of microwave modification of colloidal TiO2 suspensions under extended periods of treatment is presented. The nanoparticulate TiO2 is compared and contrasted to similar convection hydrothermally treated TiO2 and a commercial titania product, namely Degussa P25. Microwave-treated samples were analyzed by X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), and Raman spectroscopy to determine their physicochemical characteristics. Comparative surface area analyses were performed by N2 adsorption and calculated from a Brunauer-Emmett-Teller (BET) isotherm. The complementary techniques of XRD and TEM showed good correlation between observed and calculated particle sizes (by application of the Scherrer equation), with the material being highly crystalline anatase TiO2, as identified by XRD and Raman. This investigation identified that extended periods of microwave hydrothermal treatment do not greatly enhance the crystallinity and primary grain size. Treatment of >180 min has a negative effect on crystallite growth; however, treatment up to this time had a significant effect on the material’s surface area. The limiting regime of Ostwald ripening for hydrothermal treatment is discussed in relation to the mechanism of microwave treatment, that is, rapid heating to temperature and extremely rapid rates of crystallization. The effect of these property modifications are further discussed in relation to photocatalytic and photoelectrochemical applications of TiO2 nanoparticles.

We propose that an important aspect of human-robot interaction is perspective-taking. We show how perspective-taking occurs in a naturalistic environment (astronauts working on a collaborative project) and present a cognitive architecture for performing perspective-taking called Polyscheme. Finally, we show a fully integrated system that instantiates our theoretical framework within a working robot system. Our system successfully solves a series of perspective-taking problems and uses the same frames of references that astronauts do to facilitate collaborative problem solving with a person., Published in the IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans v35, n4, Jul 2005. Sponsored in part by DAPRA.

We suggest that to enable effective human-robot interaction, robots should be able to interact in a way that is natural to and preferred by humans. Using human-compatible representations and reasoning mechanisms should help in developing skills which support effective human-robot interaction. In this paper, we present two studies that examine a critical human-robot-interaction component: perspective-taking. We find that when a person asks a robot to perform a task with some ambiguity to the robot, the person prefers the robot to either ask for clarification or take the person's perspective and act appropriately., Presented at the 14th IEEE International Workshop on Robot and Human Interactive Communication, held in Nashville, TN, on 13-15 Aug 2005. The original document contains color images. Sponsored in part by DARPA.

Imagine mobile robots of the future working side by side with humans, collaborating in a shared workspace. For this to become a reality, robots must be able to do something that humans do constantly: understand how others perceive space and the relative positions of objects around them -- they need the ability to see things from another person's point of view. The authors' research group and others are building computational, cognitive, and linguistic models that can deal with frames of reference. Issues include dealing with constantly changing frames of reference, changes in spatial perspective, understanding what actions to take, the use of new words, and common ground. Their approach is an implementation informed by cognitive and computational theories. It is based on developing computational cognitive models (CCMs) of certain high-level cognitive skills humans possess that are relevant for collaborative tasks. They then use these models as reasoning mechanisms for their robots. Why do they propose using CCMs as opposed to more traditional programming paradigms for robots? They believe that by giving the robots similar representations and reasoning mechanisms to those used by humans, they will build robots that act in a way that is more compatible with humans., Pub. in Interactions, p22-24, Mar-Apr 2005.

The purpose of this study was to ascertain if there is a specific style of teaching which is better suited for the distance learning (virtual) environment, as opposed to the traditional classroom environment. Numerous studies have shown that individuals have different delivery styles in the classroom. The study utilized instructor delivery styles and faculty perceptions of distance learning programs to develop an instrument which identifies the style that would be more successful in the distance learning environment. The study employed an author developed instrument, which included a derivative of the Kolb Learning Style Inventory (LSI) instrument, to determine the teaching style of the instructor. Results of the study concluded that while there will always be exceptions, the instrument developed in the study will provide an indication of which instructors are better suited for the virtual environment.

The SHEL Model has been used to explore relationships between liveware, environmental, hardware and software factors. This study attempts to integrate Flight Operational Quality Assurance (FOQA) program data with the SHEL model. Aircraft record data that can be used to monitor the human interface within the entire system, plus identify faults and potential failures within the system before a major accident or incident occurs. These data have existed for over four decades, and FOQA offers a way to both analyze and act upon them. The relationships between the SHEL model and FOQA data can help to ensure our nation's skies are the safest and most efficient in the world.

To demonstrate that plants can detect and report exposure to a range of potentially pathogenic microbes. The ultimate objective is to develop a plant or plants that can detect and report these selected exposures.

This study evaluates differences between two-year and four-year schools offering a Federal Aviation Administration (FAA) Part 147 aviation maintenance technician program. The actual average test scores were analyzed to determine whether students from four-year university programs were better prepared for the test than students from two-year college or technical school programs. Test scores can be viewed as a direct indication of the quality of the aviation maintenance programs at these schools. The study found that there was no statistically significant difference in the test scores between two-year college and four-year university students taking the FAA examinations. These results support previous studies that found the learning outcomes of two-year and four-year students on general subjects to be comparable.

G-suits have changed over the years since Dr. Wilbur Franks invented the first anti-g suit. For the past decade the United States Air Force has been using the Combat Edge ensemble and the associated L-1 straining maneuver. The Air Force is now testing the Libelle Self-contained Anti-G Ensemble (SAGE); it uses a unique Libelle Straining Maneuver (LSM). The suit and the straining maneuver were determined to be valid; however, the effects of negative transfer must be addressed or it will have a significant impact on the success of this program.

The AAAI Robot Challenge was established four years ago as a "grand challenge" for mobile robots. The main objectives of the Challenge are to (a) provide a task that will demonstrate a high level of intelligence and autonomy for robots acting in a natural, peopled, dynamic environment; (b) stimulate state-of-the-art robotics research to address this task; and (c) use robot demonstrations to educate the public about the exciting and difficult challenges of robotics research. When the Challenge was designed, it was anticipated that no single research institution would have adequate resources to meet the Challenge on its own. The Challenge task is to find the registration booth and register at the National Conference on Artificial Intelligence, interact with other attendees, and give a technical talk on itself in an assigned room, and at an assigned time. Ideally, the robot should be given no more information than any other participant arriving in a new city to attend a major technical conference. In particular, that means that the robot should not know the layout of the convention center beforehand, and the environment should not be modified. Practically, however, the organizers understand that compromises and flexibility will be necessary in order to get current state-of-the-art robots to achieve such a task., Prepared in collaboration with Naval Research Laboratory. Prepared in cooperation with Northwestern University, Metrica, Inc., and Swarthmore College. The original document contains color images.

One of the great challenges of putting humanoid robots into space is developing cognitive capabilities for the robots with an interface that allows human astronauts to collaborate with the robots as naturally and efficiently as they would with other astronauts. In this joint effort with NASA and the entire Robonaut team we are integrating natural language and gesture understanding, spatial reasoning incorporating such features as human-robot perspective taking, and cognitive model-based understanding to achieve this high level of human-robot interaction., Prepared in cooperation with NASA. Prepared in collaboration with University of Missouri, Columbia, MO. Sponsored in part by DARPA. The original document contains color images.

In their research on intuitive means for humans and intelligent, mobile robots to collaborate, the authors use a multimodal interface that supports speech and gestural inputs. As a preliminary step to evaluate their approach and to identify practical areas for future work, they conducted a Wizard-of-Oz pilot study with five participants who each collaborated with a robot on a search task in a separate room. The goal was to find a sign in the robot's environment with the word "FOO" printed on it. Using a subset of their multimodal interface, participants were told to direct the collaboration. As their subordinate, the robot would understand their utterances and gestures, and recognize objects and structures in the search space. Participants conversed with the robot through a wireless microphone and headphone and, for gestural input, used a touch screen displaying alternative views of the robot's environment to indicate locations and objects., Prepared in collaboration with the University of Missouri-Columbia, Computer Engineering and Computer Science Department, Columbia, MO. Sponsored in part by DARPA. The original document contains color images.

This paper describes an approach to continuous coevolution of form (the morphology) and function (the control behavior) for autonomous vehicles. This study focuses on coevolution of the characteristics such as beam width and range of individual sensors in the sensor suite, and the reactive strategies for collision-free navigation for an autonomous micro air vehicle. The results of the evolution of the system in a fixed simulation model were compared to case-based anytime learning (also called continuous and embedded learning) where the simulation model was updated over time to better match changes in the environment., Presented at the Congress on Evolutionary Computation (CEC-2003) held in Canberra, Australia on 8-12 Dec 2003. Published in the Proceedings of the Congress on Evolutionary Computation (CEC-2003). The original document contains color images.

A novel approach for automatic design synthesis and optimization using evolutionary algorithms (EA) is introduced in the paper. The approach applies to component-based systems in general and is demonstrated with a heating, ventilating and air-conditioning (HVAC) systems problem. The whole process of the system design, including the initial stages that usually entail significant human involvement, is treated as a constraint satisfaction problem. The formulation of the optimization process realizes the complex nature of the design problem using different types of variables (real and integer) that represent both the physical and the topological properties of the system; the objective is to design a feasible and efficient system. New evolutionary operators tailored to the component-based, spatially distributed system design problem have been developed. The process of design has been fully automated. Interactive supervision of the optimization process by a human-designer is possible using a specialized GUI. An example of automatic design of HVAC system for two-zone buildings is presented. (c) Springer

A novel approach for automatic design synthesis and optimization using evolutionary algorithms (EA) is introduced in the paper. The approach applies to component-based systems in general and is demonstrated with a heating, ventilating and air-conditioning (HVAC) systems problem. The whole process of the system design, including the initial stages that usually entail significant human involvement, is treated as a constraint satisfaction problem. The formulation of the optimization process realizes the complex nature of the design problem using different types of variables (real and integer) that represent both the physical and the topological properties of the system; the objective is to design a feasible and efficient system. New evolutionary operators tailored to the component-based, spatially distributed system design problem have been developed. The process of design has been fully automated. Interactive supervision of the optimization process by a human-designer is possible using a specialized GUI. An example of automatic design of HVAC system for two-zone buildings is presented. (c) Springer

The authors are designing and implementing a multi-modal interface to a team of dynamically autonomous robots. For this interface, they have elected to use natural language and gesture. Gestures can be either natural gestures perceived by a vision system installed on the robot, or they can be made by using a stylus on a Personal Digital Assistant. In this paper,they describe the integrated modes of input and one of the theoretical constructs that they use to facilitate cooperation and collaboration among members of a team of robots. An integrated context and dialog processing component that incorporates knowledge of spatial relations enables cooperative activity between the multiple agents, both human and robotic., Prepared in collaboration with the University of Missouri-Columbia, Computer Engineering and Computer Science Department, Columbia, MO and ITT Industries, Alexandria, VA. Sponsored in part by the Office of Naval Research. The original document contains color images.

In July and August 2002, five research groups -- Carnegie Mellon University, Northwestern University, Swarthmore College, Metrica, Inc., and the Naval Research Laboratory -- collaborated and integrated their various robotic systems and interfaces to attempt The Robot Challenge held at the AAAI 2002 annual conference in Edmonton, Alberta. The goal of this year's Robot Challenge was to have a robot dropped off at the conference site entrance; negotiate its way at the site, using queries and interactions with humans and visual cues from signs, to the conference registration area; register for the conference; and then give a talk. Issues regarding human/robot interaction and interfaces, navigation, mobility, vision, to name but a few relevant technologies to achieve such a task, were put to the test. In this report we, the team from the Naval Research Laboratory, will focus on our portion of The Robot Challenge. We will discuss some lessons learned from collaborating and integrating our system with our research collaborators, as well as discuss what actually transpired -- what worked and what failed -- during the robot's interactions with conference attendees in achieving goals. We will also discuss some of the informal findings and observations collected at the conference during the interaction and navigation of the robot to complete its various goals., Sponsored in part by Office of Naval Research (N00014-01-WX-40001) and by DARPA (MIPR 02-L697-00). The original document contains color images.