Autonomous control for miniaturized mobile robots in unknown pipe networks.

Despite recent advances in robotic technology, sewer pipe inspection is still limited to conventional approaches that use cable-tethered robots. Such commercially available tethered robots lack autonomy, and their operation must be manually controlled via their tethered cables. Consequently, they can only travel to a certain distance in pipe, cannot access small-diameter pipes, and their deployment incurs high costs for highly skilled operators. In this paper, we introduce a miniaturised mobile robot for pipe inspection. We present an autonomous control strategy for this robot that is effective, stable, and requires only low-computational resources. The robots used here can access pipes as small as 75 mm in diameter. Due to their small size, low carrying capacity, and limited battery supply, our robots can only carry simple sensors, a small processor, and miniature wheel-legs for locomotion. Yet, our control method is able to compensate for these limitations. We demonstrate fully autonomous robot mobility in a sewer pipe network, without any visual aid or power-hungry image processing. The control algorithm allows the robot to correctly recognise each local network configuration, and to make appropriate decisions accordingly. The control strategy was tested using the physical micro robot in a laboratory pipe network. In both simulation and experiment, the robot autonomously and exhaustively explored an unknown pipe network without missing any pipe section while avoiding obstacles. This is a significant advance towards fully autonomous inspection robot systems for sewer pipe networks.

Monarch butterfly and milkweed declines substantially predate the use of genetically modified crops.

Monarch butterfly (Danaus plexippus) decline over the past 25 years has received considerable public and scientific attention, in large part because its decline, and that of its milkweed (Asclepias spp.) host plant, have been linked to genetically modified (GM) crops and associated herbicide use. Here, we use museum and herbaria specimens to extend our knowledge of the dynamics of both monarchs and milkweeds in the United States to more than a century, from 1900 to 2016. We show that both monarchs and milkweeds increased during the early 20th century and that recent declines are actually part of a much longer-term decline in both monarchs and milkweed beginning around 1950. Herbicide-resistant crops, therefore, are clearly not the only culprit and, likely, not even the primary culprit: Not only did monarch and milkweed declines begin decades before GM crops were introduced, but other variables, particularly a decline in the number of farms, predict common milkweed trends more strongly over the period studied here.

Effect of lithium on hypothalamic-pituitary-thyroid function in patients with affective disorders.

Hypothalamic-pituitary-thyroid (H.P.T.) function was assessed in 17 patients on maintenance doses of lithium carbonate for a mean period of 21 months (range 1-67 months) and by serial studies on four patients from the start of lithium treatment for a maximum of six months. An exaggerated thyrotrophin (TSH) response to intravenous thyrotrophin-releasing hormone (TRH) occurred in 14 of the 17 patients on maintenance treatment, though basal TSH levels were raised in only three. Two of the three patients were clinically and biochemically hypothyroid and showed a delayed recovery of normal H.P.T. function after lithium was stopped. There were no significant differences in thyroid hormone or basal TSH levels between the euthyroid lithium-treated.