Using a multi-robot system in military operations poses many control problems. Thus, the ability to formulate clear and unambiguous commands for the robots is extremely desirable. To ensure that the operator expresses clearly what needs to be done, we use Battle Management Language (BML) to command multi- robot systems. BML was developed by the military research community to express short, unambiguous orders readable by both humans and machines. BML allows the operator to command the multi-robot system using a single controller on a mobile device (e.g., a tablet). We use BML reports to send information from the robots to the BML-Graphical User Interface (GUI). Position information, operational status, task status, and information about detected units are directly transformed into BML reports. The robots also report binary data such as images, video, or lidar data. These data cannot be translated into BML because BML is limited to textual messages. Instead, the data are converted into another XML format. After conversion, they are sent to the GUI and can be stored in a central database so that other (superordinate) C2 systems can make use of it. This article presents an overview of the BML communication architecture, the BML language and the commands that can be given to robots using BML, and the BML reports system.

关键词：指挥和控制系统；多智能体系统；机器人

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on- orbit servicing missions.

关键词：机器人；运动学；运动;轨道；机器人

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This paper introduces several PID control algorithms and their discretization expression.Compare the performance of positional PID algorithm with incremental PID algorithm,integration separate PID algorithm,incomplete differential PID algorithm and PID algorithm with dead zone.The experiment results show that different digital PID control algorithm could achieve different using.

关键词：位置式PID；增量式PID；整合独立PID；不完全微分PID；电子信息

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The TDOA localization algorithm for wireless sensor networks can help us measure the time differences of an unknown node to more anchor nodes,which establish nonlinear equation of the differential distance between unknown node and anchor node.Newton iteration is the crucial method for nonlinear equation numerical solutions,so using the Newton iterative method can better achieve nonlinear optimization in TDOA location.The simulation results indicate that the algorithm can meet the requirement of localization and possesses the preferable localization precision.

关键词：无线传感器网络;牛顿迭代法;非线性;到达时间差

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In this report, we extend our previous work where we proposed 1D Analytic Minimization (1D AM) of a cost function to calculate robust elasticity images to 2D AM. We show that 2D AM is much faster than 1D AM, which is critically important in creating real- time elastography. In elasticity reconstruction using an inverse problem framework. We also propose a novel strain addition, 2D AM produces high quality strain images in 2D which can be used for calculation technique using Kalman filters, which generates smooth strain images without blurring the images and removing sharp boundaries. We show using simulation, phantom and clinical trials that the 2D AM generates high quality strain images in real-time. This work is in published in 2 IEEE TMI articles (23 pages total), and in 5 conference proceeding papers (each paper 8 to 9 pages, 42 pages total). The papers are well received, resulting in more than 55 citations to date according to Google Scholar.

关键词：辐照;卡尔曼滤波;乳腺;放疗;超声波;临床医学

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A comparative effectiveness review was undertaken to evaluate treatment strategies in patients who failed to respond to selective serotonin reuptake inhibitors (SSRIs) as first-line treatment. The efficacy (benefits and harms) of monotherapy approaches (dose escalation, increased duration, or switch) or combined therapies were evaluated. Efficacy in the context of subgroups was also evaluated. Recommendations in Clinical Practice Guidelines (CPGs) from 2004 to April 2011 were compared.

关键词：抑郁症(心理学);药物疗法;患者;精神障碍;临床医学;福利;健康危害

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The human immunodeficiency virus/acquired immune deficiency syndrome (HIV/AIDS) is one of the worlds most pressing global health challenges. Since the beginning of the epidemic, more than 60 million people have been infected with HIV, approximately 30 million of whom have died of HIV-related causes. As of 2009, there were 33.3 million people living with the virus, the vast majority of whom live in sub-Saharan Africa. Expanded access to antiretroviral therapy (ART) over the past decade, due in large part to U.S. support, has contributed to declines in deaths among people living with HIV. Nonetheless, new infections continue to outpace access to treatment. The 112th Congress will likely be faced with determining how, and to what extent, the United States should respond to the continued challenge of global HIV/AIDS.

关键词：艾滋病毒/艾滋病;传染病;公共卫生;威胁评估;死亡率

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Effective treatment of sensory neuropathies in peripheral neuropathies and spinal cord injury (SCI) is one of the most difficult problems in modern clinical practice. Cell therapy to release antinociceptive agents near the injured spinal cord is a logical next step in the development of treatment modalities. But few clinical trials, especially for chronic pain, have tested the potential of transplant of cells to treat chronic pain. Cell lines derived from the human neuronal NT2 cell line parentage, the hNT2.17 and hNT2.19 lines,which synthesize and release the neurotransmitters gamma- aminobutyric acid (GABA) and serotonin (5HT), respectively, have been used to evaluate the potential of cell-based release of antinociceptive agents near the lumbar dorsal (horn) spinal sensory cell centers to relieve neuropathic pain after PNS (partial nerve and diabetes-related injury) and CNS (spinal cord injury) damage in rat models. Both cell lines transplants potently and permanently reverse behavioral hypersensitivity without inducing tumors or other complications after grafting. Functioning as cellular minipumps for antinociception, human neuronal precursors, like these NT2-derived cell lines, would likely provide a useful adjuvant or replacement for current pharmacological treatments for neuropathic pain.

关键词：中枢神经系统、周围神经系统;神经细胞;疼痛;前兆;再版;脊髓;治疗

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The project is intended to determine whether a specific nitric oxide- mediated tumor stress response pathway that is initiated following a cytotoxic injury (1) is observed in prostate cancer xenografts and (2) can be inhibited by the administration of dietary glycine supplementation. The rationale is based upon prior preclinical studies establishing, for other solid tumor types, that upregulation of inducible nitric oxide synthase (iNOS) in activated macrophages recruited to the site of cytotoxic injury from radiation or chemotherapy leads to the production of NO that stabilizes hypoxia-inducible factor 1-alpha, which in turns leads to increased expression of vascular endothelial growth factor (VEGF). As a result of this signaling process, tumor angiogenesis is supported, leading to recovery from the initial cytotoxic injury. It is believed that inhibiting this NO-mediated process of angiogenesis can enhance the cytotoxicity of radiation or chemotherapy, and it is believed that glycine might be an effective.

关键词：前列腺癌化疗;甘氨酸;;放疗;血管生成,细胞毒素

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A new method of speech enhancement is proposed based on morphological filter and wavelet transform.The system begins by first conducting morphological filtering,then distinguishing the unvoiced,voiced and noise using TEO in the wavelet domain.It then executes wavelet transform using different threshold on multiscale,and at the same time to improve the threshold function.Experimental results showed that the method not only suppressed noise effectively but also reduced the loss of the unvoiced.It also not only enhanced SNR,but also improved voice clarity and comfort.The merits it espouses makes it an effective speech enhancement algorithm.

关键词：语音增强；形态学滤波；小波变换；TEO；电子信息

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