Coordination episode

In the following paragraphs, the characteristics of the hierarchically structured collective are first described. Following that, some background information regarding autonomous coordination in this study is provided. To illustrate this technique of autonomous coordination, a detailed presentation of a coordination episode in the hierarchically structured collective is presented as well. 

Figure 3. The coordination episode in a SHMRS with a hierarchically structured collective...

Coordination Episode in a Horizontally Structured Collective (General Case)... 

Stage 1 Propagating Coordination Command. In Stage I, the coordination episode begins with the human supervisor providing the command. This command does not have to be conununicated to a specific collective member but instead can be provided to any robot. Together with the command is information about which robots have been rendered inactive and which ones are still active. The robot which receives the coordination command from the human supervisor propagates the command (and the relevant information about which robots are still active) to the other active members of the robot collective. 

Stage 2 Inter Robot Coordination. In Stage 2, each robot sends its current position and the waypoints that it has visited or skipped (since the previous coordination episode) to all other active robots in the collective. 

By comparing the proposed coordination techniques for both types of robot collective, it is possible to see that in order for a Subordinate robot in the hierarchically structured collective to take part in a coordination episode, it needs only to be aware of its own position and the way-points, which it has visited or skipped. It does not need to maintain any representation of the larger mission area nor even be aware of the existence of other collective members besides the Apex robot. This simplicity translates into a number of advantages. Firstly, it reduees the likelihood of computer glitches or bugs on the Subordinate robot. Secondly, it means that the necessary eomputation performed within the Subordinate robot can quite likely be achieved with small and inexpensive microprocessors (rather than larger... 

The mission starts when the human supervisor clicks on the Start mission button at the GUI. This sends a command to the Apex robot and initiates the first coordination episode. Subsequently, each robot is allocated a series of wa5q)oints to visit. This series or list of wa q)oints represents the zone within the mission area, which the robot is to comb. 

After the coordination episode, the human supervisor can instruct each robot individually to begin combing the zone, which it has been allocated. This prevents the robots from beginning to move all at once while they are still in close proximity to one another. 

Each robotkeepstrack ofwhichofits allocated waypoints has been visited or skipped. As earlier explained, this information is necessary for coordination episodes performed mid way through the mission. Such mid-mission coordination may be required when a re-allocation of waypoints can allow the robots to comb the mission area more efficiently. For instance, coordination may be called for when a particular robot still has much of its al located zone imexplored while other robots have already finished combing their zones. 

In the course of amission, a robot may be damaged or incapacitated to the extent where it can no longer contribute further to the mission. Alternatively, a robot may venture to an area where wireless communication cannot be sustained. Therefore, such a robot should be declared down by the human supervisor. The rationale for having to down a robot is to due to the need for the Apex robot to be informed about the number of as well as the identity of robots participating future coordination episodes . Withoutthis information, the Apex robot cannot successfully allocate new zones for surviving robots. 

EA2, similar to FHM1, is an autosomal dominant disorder associated with mutations in the CACNA1A gene, but is clinically quite distinct. EA2 patients experience spontaneous episodes of ataxia (poor muscle coordination) that last for hours to days. In between attacks, patients often experience gaze-evoked or down-beat nystagmus (rapid, involuntary eye oscillations). Approximately 50% of patients experience migraine-like symptoms, and cerebellar atrophy is common (Lorenzon and Beam, 2000). Attacks are often initiated by emotional stress, exercise, or alcohol. Most patients respond well to treatment with acetazolamide (reviewed in (Jen et al., 2004)). EA2 is genetically variable and has been associated with missense, truncation and alternative splice site mutations. 

Later, in his safety update of the NDA on October 17, 1986, Kapit spoke of several cases of a syndrome of fluoxetine-induced hyper-arousal and excessive stimulation... [that] resemble episodes of stimulant drug intoxication. It was especially likely to occur at higher doses, but it could occur at the standard 20 mgs. The state of overstimulation included anxiety, agitation, insomnia, headache, confusion, dizziness, obnubilation [mental clouding], memory dysfunction, tremor, impaired motor coordination. Hyperactivity, hypomania, and mania may sometimes occur. In overdose, the drug produces an even more flagrant stimulant syndrome culminating in seizures. Thus there is a continuum of stimulation effects. 

Overall, ZT-1 reduced the cognitive impairments produced by scopolamine on tasks measuring attention, working memory, episodic secondary memory, and eye-hand coordination. These findings suggest that ZT-1 may be an effective symptomatic treatment for the cognitive deficits associated with AD. 

Wilson s disease often involves low plasma levels of ceruloplasmin, increased plasma nonceruloplasmin copper, and increased urinary copper. The disease can involve a tenfold increase in liver copper lev els. The normal value for hepatic copper is 20 to 50 pg/g of liver dry weight). Outward signs of the disease include episodes of jaundice, vomidng, and tiredness. Bone disorders such as osteoporosis can also occur. The neurological damage includes a loss in coordination. V ilson s disease does not result in mental retardation. The rate of incorporation of copper into ceruloplasmin is reduced and biliary excretion decreases to 20 to 40% the normal rate. 

In Canada, a two-year study done by a multivendor team of healthcare professionals for the province of Alberta similarly characterized the current Canadian healthcare system to be provider-centric as opposed to patientcentric and to depend on episodic and illness-oriented (as opposed to wellness-oriented) fragmented services provided by the individual provider in a facility with very little coordination. As in the United States, the outcomes are consequently measured from the financial perspective rather than the clinical efficacy perspective. In Canada the multivendor team of healthcare professionals recommended that the healthcare system make the transition to a patient-centric, outcome-driven, and wellness-oriented system that provides integrated continuum of services with close coordination among the providers and institutions. 

The intake of food is usually in three to five meals and snacks a day. It is episodic. But the body s use of energy is highest during the day and not coordinated with meals. It is low during sleep. 

The effect of successive insertion and /1-H elimination episodes on a coordinated alkene-hydride (or on a transition metal alkyl) is represented in Scheme 6.18. The metal can migrate along the alkyl chain, provided that (a) the next /I-carbon offers a hydrogen susceptible to /S-H elimination and (b) the rotation about the M-(alkene) bond is easy. The expression chain walking (or chain running ) is used to describe this migration [76]. 

Nebulizers are principally used by children (<5 years) and adults (<55 years) who have difficulty coordinating the use of MDIs and DPls, by patients with severe asthma or chronic obstructive pulmonary disease (COPD), and in the emergency room for acute episodes of bronchospasm. Today the bulk and cost of nebulizers relative to MDIs and DPls makes them inappropriate for the majority of patients. However, pMDIs using chlorofluorocarbons (CFCs) contribute to... 

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