Comparative transcriptomics enlarges the toolkit of known developmental genes in mollusks

Data used for the phylogenetic analysis of Hox and ParaHox genes, including the respective GenBank accession numbers. (DOC 31 kb

Maple-Swarm: programming collective behavior for ensembles by extending HTN-planning

Programming goal-oriented behavior in collective adaptive systems is complex, requires high effort, and is failure-prone. If the system's user wants to deploy it in a real-world environment, hurdles get even higher: Programs urgently require to be situation-aware. With our framework Maple, we previously presented an approach for easing the act of programming such systems on the level of particular robot capabilities. In this paper, we extend our approach for ensemble programming with the possibility to address virtual swarm capabilities encapsulating collective behavior to whole groups of agents. By using the respective concepts in an extended version of hierarchical task networks and by adapting our self-organization mechanisms for executing plans resulting thereof, we can achieve that all agents, any agent, any other set of agents, or a swarm of agents execute (swarm) capabilities. Moreover, we extend the possibilities of expressing situation awareness during planning by introducing planning variables that can get modified at design-time or run-time as needed. We illustrate the possibilities with examples each. Further, we provide a graphical front-end offering the possibility to generate mission-specific problem domain descriptions for ensembles including a lightweight simulation for validating plans

Embryonic chirality and the evolution of spiralian left-right asymmetries

This work has been funded by the Sars core budget to A.H

Inelastic Final-State Interactions and Two-body Hadronic B decays into Single-Isospin channels

The role of inelastic final-state interactions in CP asymmetries and branching ratios is investigated in certain chosen single isospin two-body hadronic B decays. Treating final-state interactions through Pomeron and Regge exchanges, we demonstrate that inelastic final state interactions could lead to sizeable effects on the CP asymmetry.Comment: 23 pages, Latex, 1 eps-figur

Nonfactorizable contributions in B decays to charmonium: the case of B−→K−hcB^- \to K^- h_c

Nonleptonic $B$ to charmonium decays generally show deviations from the factorization predictions. For example, the mode $B^- \to K^- \chi_{c0}$ has been experimentally observed with sizeable branching fraction while its factorized amplitude vanishes. We investigate the role of rescattering effects mediated by intermediate charmed meson production in this class of decay modes, and consider $B^- \to K^- h_c$ with $h_c$ the $J^{PC}=1^{+-}$ $\bar c c$ meson. Using an effective lagrangian describing interactions of pairs of heavy-light $Q{\bar q}$ mesons with a quarkonium state, we relate this mode to the analogous mode with $\chi_{c0}$ in the final state. We find ${\cal B}(B^- \to K^- h_c)$ large enough to be measured at the $B$ factories, so that this decay mode could be used to study the poorly known $h_c$.Comment: RevTex, 16 pages, 2 eps figure

Review of code and phase biases in multi-GNSS positioning

A review of the research conducted until present on the subject of Global Navigation Satellite System (GNSS) hardware-induced phase and code biases is here provided. Biases in GNSS positioning occur because of imperfections and/or physical limitations in the GNSS hardware. The biases are a result of small delays between events that ideally should be simultaneous in the transmission of the signal from a satellite or in the reception of the signal in a GNSS receiver. Consequently, these biases will also be present in the GNSS code and phase measurements and may there affect the accuracy of positions and other quantities derived from the observations. For instance, biases affect the ability to resolve the integer ambiguities in Precise Point Positioning (PPP), and in relative carrier phase positioning when measurements from multiple GNSSs are used. In addition, code biases affect ionospheric modeling when the Total Electron Content is estimated from GNSS measurements. The paper illustrates how satellite phase biases inhibit the resolution of the phase ambiguity to an integer in PPP, while receiver phase biases affect multi-GNSS positioning. It is also discussed how biases in the receiver channels affect relative GLONASS positioning with baselines of mixed receiver types. In addition, the importance of code biases between signals modulated onto different carriers as is required for modeling the ionosphere from GNSS measurements is discussed. The origin of biases is discussed along with their effect on GNSS positioning, and descriptions of how biases can be estimated or in other ways handled in the positioning process are provided.QC 20170922</p