RF-Based Simultaneous Localization and Source Seeking for Multi-Robot Systems

This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements extracted from RF signals and then control themselves to approach the source. We design a Rao-Blackwellized particle filter-based algorithm to realize the joint localization of the robots and the source. We also devise an information-theoretic control policy for the robots to approach the source. In our control policy, we maximize the predicted mutual information between the source position and the distance measurements, conditioned on the robot positions, to incorporate the robot localization uncertainties. A projected gradient ascent method is adopted to solve the mutual information maximization problem. Simulation results show that the proposed SLASS framework outperforms two benchmarks in terms of the root mean square error (RMSE) of the estimated source position and the decline of the distances between the robots and the source, indicating more effective approaching of the robots to the source

The quantum solvation, adiabatic versus nonadiabatic, and Markovian versus non-Markovian nature of electron transfer rate processes

In this work, we revisit the electron transfer rate theory, with particular interests in the distinct quantum solvation effect, and the characterizations of adiabatic/nonadiabatic and Markovian/non-Markovian rate processes. We first present a full account for the quantum solvation effect on the electron transfer in Debye solvents, addressed previously in J. Theore. & Comput. Chem. {\bf 5}, 685 (2006). Distinct reaction mechanisms, including the quantum solvation-induced transitions from barrier-crossing to tunneling, and from barrierless to quantum barrier-crossing rate processes, are shown in the fast modulation or low viscosity regime. This regime is also found in favor of nonadiabatic rate processes. We further propose to use Kubo's motional narrowing line shape function to describe the Markovian character of the reaction. It is found that a non-Markovian rate process is most likely to occur in a symmetric system in the fast modulation regime, where the electron transfer is dominant by tunneling due to the Fermi resonance.Comment: 13 pages, 10 figures, submitted to J. Phys. Chem.

Sequence Dependent Repair of 1,N6-Ethenoadenine by DNA Repair Enzymes ALKBH2, ALKBH3, and AlkB

Mutation patterns of DNA adducts, such as mutational spectra and signatures, are useful tools for diagnostic and prognostic purposes. Mutational spectra of carcinogens derive from three sources: adduct formation, replication bypass, and repair. Here, we consider the repair aspect of 1,N6-ethenoadenine (εA) by the 2-oxoglutarate/Fe(II)-dependent AlkB family enzymes. Specifically, we investigated εA repair across 16 possible sequence contexts (5′/3′ flanking base to εA varied as G/A/T/C). The results revealed that repair efficiency is altered according to sequence, enzyme, and strand context (ss- versus ds-DNA). The methods can be used to study other aspects of mutational spectra or other pathways of repair

A Stabilized, Intrinsically Safe, 10% Efficient, Solar-Driven Water-Splitting Cell Incorporating Earth-Abundant Electrocatalysts with Steady-State pH Gradients and Product Separation Enabled by a Bipolar Membrane

An efficient, stable, and intrinsically safe solar water-splitting device is demonstrated using a III–V tandem junction photoanode, an acid-stable, earth-abundant hydrogen evolution catalyst, and a bipolar membrane. The integrated photoelectrochemical cell operates under a steady-state pH gradient and achieves ≈10% solar-to-hydrogen conversion efficiency, >100 h of stability in a large (>1 cm^2) photoactive area in relation to most previous reports