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Abstract-Mobile manipulators have brought a new level of flexibility to traditional automation tasks such as tabletop manipulation, but are not yet capable of the same speed and reliability as industrial automation. We present approaches to 3D perception and manipulator motion planning that enable a general purpose robotic platform to recognize and manipulate a variety of objects at a rate of one pick-and-place operation every 6.7 s, and work with a conveyor belt carrying objects at a speed of 33 cm /s.

This study examined intestinal permeability in gastrointestinal disorders by measuring urinary recovery following oral administration of [99mTc]DTPA in 117 subjects. The mean percent of the ingested dose excreted in a 24-hr urine sample was 2.8 +/- 1.6% in 11 healthy controls, 10.8 +/- 10.2% (P less than 0.001) in 21 ulcerative colitis patients, 8.0 +/- 4.7% (P less than 0.001) in 35 Crohn's disease patients, 5.1 +/- 2.9% (P less than 0.01) in 17 patients with heterogeneous digestive disease diagnoses, and 3.2 +/- 4.7% (P greater than 0.05) in 33 patients with hepatobiliary diagnoses. Among ambulatory patients, Crohn's disease subjects, but not ulcerative colitis patients, had greater urinary recovery than the controls (P less than 0.05). The Crohn's disease activity index correlated positively with the radionuclide recovery in Crohn's subjects (r = 0.455, P less than 0.02). In a heterogeneous sample of subjects simultaneous ingestion of [99mTc]DTPA and [51Cr]EDTA produced urinary levels that were correlated positively (r = 0.556, P less than 0.001). Increased absorption of [99mTc]DTPA relative to [51Cr]EDTA, however, was noted in ulcerative colitis patients (P less than 0.05). In conclusion, increased intestinal permeability has been demonstrated by utilizing [99mTc]DTPA in Crohn's disease and ulcerative colitis patients. Although this observation appears to be a nonspecific indicator of injury, the test provides a simple objective means of establishing disease activity, which possibly may be utilized for therapeutic and investigative studies.

Summary: Three live attenuated rubella vaccines were tested in adult volunteers. Clinical reactions were mild, but were more noticeable in vaccinated non-immune subjects than in control subjects. With the exception of two individuals, all of the remaining 54 subjects developed an immune response; the level of antibodies found was somewhat lower than that resulting from natural infection. Though virus could be isolated from some of the seronegative volunteers after vaccination, no evidence was found of transmission of infection.