9,914 research outputs found

    Decentralized dynamic task allocation for UAVs with limited communication range

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    We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general approach to cast this dynamic problem as a sequence of decentralized task allocation problems. Then we present two solutions both based on modeling the allocation task as a Markov Random Field to subsequently assess decisions by means of the decentralized Max-Sum algorithm. Our first solution assumes independence between requests, whereas our second solution also considers the UAVs' workloads. A thorough empirical evaluation shows that our workload-based solution consistently outperforms current state-of-the-art methods in a wide range of scenarios, lowering the average service time up to 16%. In the best-case scenario there is no gap between our decentralized solution and centralized techniques. In the worst-case scenario we manage to reduce by 25% the gap between current decentralized and centralized techniques. Thus, our solution becomes the method of choice for our problem

    4-Holes in point sets

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    We consider a variant of a question of Erdos on the number of empty k-gons (k-holes) in a set of n points in the plane, where we allow the k-gons to be non-convex. We show bounds and structural results on maximizing and minimizing the number of general 4-holes, and maximizing the number of non-convex 4-holes. In particular, we show that for n >= 9, the maximum number of general 4-holes is ((pi)(4)); the minimum number of general 4-holes is at least 5/2 n(2) - circle minus(n); and the maximum number of non-convex 4-holes is at least 1/2 n(3) - circle minus(n(2) logn) and at most 1/2 n(3) - circle minus(n(2)). 2014 (c) Elsevier B.V. All rights reserved.Postprint (author’s final draft

    In vitro activity of bedaquiline against rapidly growing nontuberculous mycobacteria

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    Bedaquiline (BDQ) has been proven to be effective in the treatment of multidrug-resistant tuberculosis. We hypothesized that BDQ could be a potential agent to treat nontuberculous mycobacterial (NTM) infection. The objective of this study was to evaluate the in vitro activity of BDQ against rapidly growing mycobacteria by assessing the minimal inhibitory concentration (MIC) and minimal bactericidal concentration (MBC) against 18 NTM strains. For MIC determination we performed the resazurin microtitre assay broth dilution, and for the MBC the c.f.u. was determined. BDQ exhibited a strong inhibitory effect against most NTM tested; however, for some NTM strains the MBC was significantly higher than the MIC. A new finding is that Mycobacterium flavescens has a mutation in the gene atpE associated with natural resistance to BDQ. These preliminary promising results demonstrate that BDQ could be potentially useful for the treatment of NTM

    The transcriptome of Mycobacterium tuberculosis in a lipid-rich dormancy model through RNAseq analysis

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    Tuberculosis (TB) is currently the number one killer among infectious diseases worldwide. Lipids are abundant molecules during the infectious cycle of Mycobacterium tuberculosis (Mtb) and studies better mimicking its actual metabolic state during pathogenesis are needed. Though most studies have focused on the mycobacterial lipid metabolism under standard culture conditions, little is known about the transcriptome of Mtb in a lipid environment. Here we determined the transcriptome of Mtb H37Rv in a lipid-rich environment (cholesterol and fatty acid) under aerobic and hypoxic conditions, using RNAseq. Lipids significantly induced the expression of 368 genes. A main core lipid response was observed involving efflux systems, iron caption and sulfur reduction. In co-expression with ncRNAs and other genes discussed below, may act coordinately to prepare the machinery conferring drug tolerance and increasing a persistent population. Our findings could be useful to tag relevant pathways for the development of new drugs, vaccines and new strategies to control TB

    Fructooligosaccharides and β-fructofuranosidase production by Aspergillus japonicus immobilized on lignocellulosic materials

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    This work describes the fructooligosaccharides (FOS) and β-fructofuranosidase (FFase) production from sucrose (200 g/l) by Aspergillus japonicus ATCC 20236 immobilized on different lignocellulosic materials including brewer's spent grain, wheat straw, corn cobs, coffee husks, cork oak, and loofa sponge. Transfructosylating (Ut) and hydrolyzing (Uh) activities of FFase were also determined. The FOS production and FFase activity ranged from 128.35 to 138.73 g/l, and 26.83 to 44.81 U/ml, respectively, for cells immobilized in the different carriers. Corn cobs was the best support material since gave the highest results of microorganism immobilization (1.49 g/g carrier), FOS and FFase production, with FOS productivity (6.61 g/l h) and yield (0.66 g/g based on total substrate; 0.73 g/g based on consumed substrate) higher than those obtained by free cells system. Moreover, the ratio Ut/Uh of FFase, parameter of importance for elevated FOS production, was greater for cells immobilized in corn cobs than for free cells. Such results demonstrated that corn cobs can be successfully used as carrier for immobilization of the fungus A. japonicus, for the production of FOS and FFase.Fundação para a Ciência e a Tecnologia (FCT
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