Al-Robotics team: A cooperative multi-unmanned aerial vehicle approach for the Mohamed Bin Zayed International Robotic Challenge

The Al-Robotics team was selected as one of the 25 finalist teams out of 143 applications received to participate in the first edition of the Mohamed Bin Zayed International Robotic Challenge (MBZIRC), held in 2017. In particular, one of the competition Challenges offered us the opportunity to develop a cooperative approach with multiple unmanned aerial vehicles (UAVs) searching, picking up, and dropping static and moving objects. This paper presents the approach that our team Al-Robotics followed to address that Challenge 3 of the MBZIRC. First, we overview the overall architecture of the system, with the different modules involved. Second, we describe the procedure that we followed to design the aerial platforms, as well as all their onboard components. Then, we explain the techniques that we used to develop the software functionalities of the system. Finally, we discuss our experimental results and the lessons that we learned before and during the competition. The cooperative approach was validated with fully autonomous missions in experiments previous to the actual competition. We also analyze the results that we obtained during the competition trials.Unión Europea H2020 73166

Weed Search and Control: Theory and Application

The detectability of invasive organisms influences the costs and benefits of alternative control strategies, and the feasibility of eradicating an infestation. Search theory offers a mathematically rigorous framework for defining and measuring detectability, taking account of searcher ability, biological factors and the search environment. To demonstrate the application of search theory to invasive species control, invasive species detectability is incorporated into a population simulation model. The model is applied to a base set of parameter values that represent reasonable values for a hypothetical weed. The analysis shows the effects of detectability and search time on the duration of an eradication program. Furthermore, for a given level of detectability and search time, the analysis shows that the variables with the greatest influence on the duration of the eradication effort are search speed, kill efficiency and seed longevity. A series of Monte Carlo simulations are performed on a set of five scenarios, involving different combinations of plant longevity, seed longevity and plant fecundity. Results of these simulations are presented as probability distributions and allow us to calculate how the probability of eradication will be affected by search strategy.search and control, search theory, weed control, stage matrix, impedance factors, population dynamics, stochastic model, Farm Management,

Physical limits on cooperative protein-DNA binding and the kinetics of combinatorial transcription regulation

Much of the complexity observed in gene regulation originates from cooperative protein-DNA binding. While studies of the target search of proteins for their specific binding sites on the DNA have revealed design principles for the quantitative characteristics of protein-DNA interactions, no such principles are known for the cooperative interactions between DNA-binding proteins. We consider a simple theoretical model for two interacting transcription factor (TF) species, searching for and binding to two adjacent target sites hidden in the genomic background. We study the kinetic competition of a dimer search pathway and a monomer search pathway, as well as the steady-state regulation function mediated by the two TFs over a broad range of TF-TF interaction strengths. Using a transcriptional AND-logic as exemplary functional context, we identify the functionally desirable regime for the interaction. We find that both weak and very strong TF-TF interactions are favorable, albeit with different characteristics. However, there is also an unfavorable regime of intermediate interactions where the genetic response is prohibitively slow.Comment: manuscript and supplementary material combined into a single document; to be published in Biophysical Journa

Random intermittent search and the tug-of-war model of motor-driven transport

We formulate the tug-of-war model of microtubule cargo transport by multiple molecular motors as an intermittent random search for a hidden target. A motor-complex consisting of multiple molecular motors with opposing directional preference is modeled using a discrete Markov process. The motors randomly pull each other off of the microtubule so that the state of the motor-complex is determined by the number of bound motors. The tug-of-war model prescribes the state transition rates and corresponding cargo velocities in terms of experimentally measured physical parameters. We add space to the resulting Chapman-Kolmogorov (CK) equation so that we can consider delivery of the cargo to a hidden target somewhere on the microtubule track. Using a quasi-steady state (QSS) reduction technique we calculate analytical approximations of the mean first passage time (MFPT) to find the target. We show that there exists an optimal adenosine triphosphate (ATP)concentration that minimizes the MFPT for two different cases: (i) the motor complex is composed of equal numbers of kinesin motors bound to two different microtubules (symmetric tug-of-war model), and (ii) the motor complex is composed of different numbers of kinesin and dynein motors bound to a single microtubule(asymmetric tug-of-war model)

Linear-quadratic approximation, external habit and targeting rules

We examine the linear-quadratic (LQ) approximation of non-linear stochastic dynamic optimization problems in macroeconomics, in particular for monetary policy. We make four main contributions: first, we draw attention to a general Hamiltonian framework for LQ approximation due to Magill (1977). We show that the procedure for the ‘large distortions’ case of Benigno and Woodford (2003, 2005) is equivalent to the Hamiltonian approach, but the latter is far easier to implement. Second, we apply the Hamiltonian approach to a Dynamic Stochastic General Equilibrium model with external habit in consumption. Third, we introduce the concept of target-implementability which fits in with the general notion of targeting rules proposed by Svensson (2003, 2005). We derive sufficient conditions for the LQ approximation to have this property in the vicinity of a zero-inflation steady state. Finally, we extend the Hamiltonian approach to a non-cooperative equilibrium in a two-country model. JEL Classification: E52, E37, E58dynamic stochastic general equilibrium models, Linear-quadratic approximation, utility-based loss function

Dynamics of gene expression and the regulatory inference problem

From the response to external stimuli to cell division and death, the dynamics of living cells is based on the expression of specific genes at specific times. The decision when to express a gene is implemented by the binding and unbinding of transcription factor molecules to regulatory DNA. Here, we construct stochastic models of gene expression dynamics and test them on experimental time-series data of messenger-RNA concentrations. The models are used to infer biophysical parameters of gene transcription, including the statistics of transcription factor-DNA binding and the target genes controlled by a given transcription factor.Comment: revised version to appear in Europhys. Lett., new titl