A robust, distributed task allocation algorithm for time-critical, multi agent systems operating in uncertain environments

The aim of this work is to produce and test a robust, distributed, multi-agent task allocation algorithm, as these are scarce and not well-documented in the literature. The vehicle used to create the robust system is the Performance Impact algorithm (PI), as it has previously shown good performance. Three different variants of PI are designed to improve its robustness, each using Monte Carlo sampling to approximate Gaussian distributions. Variant A uses the expected value of the task completion times, variant B uses the worst-case scenario metric and variant C is a hybrid that implements a combination of these. The paper shows that, in simulated trials, baseline PI does not han-dle uncertainty well; the task-allocation success rate tends to decrease linear-ly as degree of uncertainty increases. Variant B demonstrates a worse per-formance and variant A improves the failure rate only slightly. However, in comparison, the hybrid variant C exhibits a very low failure rate, even under high uncertainty. Furthermore, it demonstrates a significantly better mean ob-jective function value than the baseline.EPSR

Reliable, distributed scheduling and rescheduling for time-critical, multiagent systems

This paper addresses two main problems with many heuristic task allocation approaches – solution trapping in local minima and static structure. The existing distributed task allocation algorithm known as PI (Performance Impact) is used as the vehicle for developing solutions to these problems as it has been shown to out-perform the state-of-the-art Consensus Based Bundle Algorithm (CBBA) for time-critical problems with tight deadlines, but is both static and sub-optimal with a tendency towards trapping in local minima. The paper describes two additional modules that are easily integrated with PI. The first extends the algorithm to permit dynamic online rescheduling in real time, and the second boosts performance by introducing an additional soft max action selection procedure that increases the algorithm’s exploratory properties. The paper demonstrates the effectiveness of the dynamic rescheduling module and shows that the average time taken to perform tasks can be reduced by up to 9% when the soft max module is used. In addition, the solution of some problems that baseline PI cannot handle is enabled by the second module. These developments represent a significant advance in the state-of-the-art for multi-agent, time-critical task assignment.EPSR

A Heuristic Distributed Task Allocation Method for Multivehicle Multitask Problems and Its Application to Search and Rescue Scenario

Using distributed task allocation methods for cooperating multivehicle systems is becoming increasingly attractive. However, most effort is placed on various specific experimental work and little has been done to systematically analyze the problem of interest and the existing methods. In this paper, a general scenario description and a system configuration are first presented according to search and rescue scenario. The objective of the problem is then analyzed together with its mathematical formulation extracted from the scenario. Considering the requirement of distributed computing, this paper then proposes a novel heuristic distributed task allocation method for multivehicle multitask assignment problems. The proposed method is simple and effective. It directly aims at optimizing the mathematical objective defined for the problem. A new concept of significance is defined for every task and is measured by the contribution to the local cost generated by a vehicle, which underlies the key idea of the algorithm. The whole algorithm iterates between a task inclusion phase, and a consensus and task removal phase, running concurrently on all the vehicles where local communication exists between them. The former phase is used to include tasks into a vehicle's task list for optimizing the overall objective, while the latter is to reach consensus on the significance value of tasks for each vehicle and to remove the tasks that have been assigned to other vehicles. Numerical simulations demonstrate that the proposed method is able to provide a conflict-free solution and can achieve outstanding performance in comparison with the consensus-based bundle algorithm

An Economy of Abundance: From Scarcity to Human Potential in Organizational and University Life

Emerging research and practice in workplace psychology is moving toward assessing people on a subset of competencies that divide the population into high and low potential employees. This article explores recent psychological research and business practices that have led to this state. Using the biblical story of the feeding of the 5,000 and Wesleyan theology around place, purpose, practice, and partnership, we illustrate how Christian thinkers and educators can acknowledge and transcend these findings and move from a scarcity to a perisseúma or abundance framework. Implications for organizational life in general and Christian higher education in particular are discussed

DNA repair gene XRCC1 polymorphisms and bladder cancer risk

BACKGROUND: Cigarette smoking and chemical occupational exposure are the main known risk factors for bladder transitional cell carcinoma (TCC). Oxidative DNA damage induced by carcinogens present in these exposures requires accurate base excision repair (BER). The XRCC1 protein plays a crucial role in BER by acting as a scaffold for other BER enzymes. Variants in the XRCC1 gene might alter protein structure or function or create alternatively spliced proteins which may influence BER efficiency and hence affect individual susceptibility to bladder cancer. Recent epidemiological studies have shown inconsistent associations between these polymorphisms and bladder cancer. To clarify the situation, we conducted a comprehensive analysis of 14 XRCC1 polymorphisms in a case-control study involving more than 1100 subjects. RESULTS: We found no evidence of an association between any of the 14 XRCC1 polymorphisms and bladder cancer risk. However, we found carriage of the variant Arg280His allele to be marginally associated with increased bladder cancer risk compared to the wild-type genotype (adjusted odds ratio [95% confidence interval], 1.50 [0.98–2.28], p = 0.06). The association was stronger for current smokers such that individuals carrying the variant 280His allele had a two to three-fold increased risk of bladder cancer compared to those carrying the wildtype genotype (p = 0.09). However, the evidence for gene-environment interaction was not statistically significant (p = 0.45). CONCLUSION: We provide no evidence of an association between polymorphisms in XRCC1 and bladder cancer risk, although our study had only limited power to detect the association for low frequency variants, such as Arg280His

Demixing, remixing and cellular networks in binary liquids containing colloidal particles

We present a confocal-microscopy study of demixing and remixing in binary liquids containing colloidal particles. First, particle-stabilized emulsions have been fabricated by nucleation and growth of droplets upon cooling from the single-fluid phase. We show that their stability mainly derives from interfacial particles; the surplus of colloids in the continuous phase possibly provides additional stability. Upon heating these emulsions, we have observed the formation of polyhedral cellular networks of colloids, just before the system remixes. Given a suitable liquid-liquid composition, the initial emulsions cross the binary-liquid symmetry line due to creaming. Therefore, upon heating, the droplets do not shrink and they remain closely packed. The subsequent network formation relies on a delicate balance between the Laplace pressure and the pressure due to creaming/remixing. As high concentrations of colloids in the cell walls inhibit film thinning and rupture, the networks can be stabilized for more than 30 minutes. This opens up an avenue for their application in the fabrication of advanced materials.Comment: http://dx.doi.org/10.1039/b918002

FAK Is a Critical Regulator of Neuroblastoma Liver Metastasis

Neuroblastomas express increased levels of gastrin-releasing peptide receptor (GRP-R). However, the exact molecular mechanisms involved in GRP-R-mediated cell signaling in neuroblastoma growth and metastasis are unknown. Here, we report that focal adhesion kinase (FAK), as a critical downstream target of GRP-R, is an important regulator of neuroblastoma tumorigenicity. We found that FAK expression correlates with GRP-R expression in human neuroblastoma sections and cell lines. GRP-R overexpression in SK-N-SH cells increased FAK, integrin α3 and β1 expressions and cell migration. These cells demonstrated flatter cell morphology with broad lamellae, in which intense FAK expression was localized to the leading edges of lamellipodia. Interestingly, FAK activation was, in part, dependent on integrin α3 and β1 expression. Conversely, GRP-R silencing decreased FAK as well as Mycn levels in BE(2)-C cells, which displayed a denser cellular morphology. Importantly, rescue experiments in GRP-R silenced BE(2)-C cells showed FAK overexpression significantly enhanced cell viability and soft agar colony formation; similarly, FAK overexpression in SK-N-SH cells also resulted in increased cell growth. These effects were reversed in FAK silenced BE(2)-C cells in vitro as well as in vivo. Moreover, we evaluated the effect of FAK inhibition in vivo. FAK inhibitor (Y15) suppressed GRP-induced neuroblastoma growth and metastasis. Our results indicate that FAK is a critical downstream regulator of GRP-R, which mediates tumorigenesis and metastasis in neuroblastoma

Apolipoprotein-induced conversion of phosphatidylcholine bilayer vesicles into nanodisks

AbstractApolipoprotein mediated formation of nanodisks was studied in detail using apolipophorin III (apoLp-III), thereby providing insight in apolipoprotein–lipid binding interactions. The spontaneous solubilization of 1,2-dimyristoyl-sn-glycero-3-phosphocholine (DMPC) vesicles occured only in a very narrow temperature range at the gel–liquid–crystalline phase transition temperature, exhibiting a net exothermic interaction based on isothermal titration calorimetry analysis. The resulting nanodisks were protected from proteolysis by trypsin, endoproteinase Glu-C, chymotrypsin and elastase. DMPC solubilization and the simultaneous formation of nanodisks were promoted by increasing the vesicle diameter, protein to lipid ratio and concentration. Inclusion of cholesterol in DMPC dramatically enhanced the rate of nanodisk formation, presumably by stabilization of lattice defects which form the main insertion sites for apolipoprotein α-helices. The presence of fully saturated acyl chains with a length of 13 or 14 carbons in phosphatidylcholine allowed the spontaneous vesicle solubilization upon apolipoprotein addition. Nanodisks with C13:0-phosphatidylcholine were significantly smaller with a diameter of 11.7±3.1nm compared to 18.5±5.6nm for DMPC nanodisks determined by transmission electron microscopy. Nanodisk formation was not observed when the phosphatidylcholine vesicles contained acyl chains of 15 or 16 carbons. However, using very high concentrations of lipid and protein (>10mg/ml), 1,2,-dipalmitoyl-sn-glycero-3-phosphocholine nanodisks could be produced spontaneously although the efficiency remained low

Genetic study of congenital bile-duct dilatation identifies de novo and inherited variants in functionally related genes

Background: Congenital dilatation of the bile-duct (CDD) is a rare, mostly sporadic, disorder that results in bile retention with severe associated complications. CDD affects mainly Asians. To our knowledge, no genetic study has ever been conducted. Methods: We aim to identify genetic risk factors by a “trio-based” exome-sequencing approach, whereby 31 CDD probands and their unaffected parents were exome-sequenced. Seven-hundred controls from the local population were used to detect gene-sets significantly enriched with rare variants in CDD patients. Results: Twenty-one predicted damaging de novo variants (DNVs; 4 protein truncating and 17 missense) were identified in several evolutionarily constrained genes (p < 0.01). Six genes carrying DNVs were associated with human developmental disorders involving epithelial, connective or bone morphologies (PXDN, RTEL1, ANKRD11, MAP2K1, CYLD, ACAN) and four linked with cholangio- and hepatocellular carcinomas (PIK3CA, TLN1 CYLD, MAP2K1). Importantly, CDD patients have an excess of DNVs in cancer-related genes (p < 0.025). Thirteen genes were recurrently mutated at different sites, forming compound heterozygotes or functionally related complexes within patients. Conclusions: Our data supports a strong genetic basis for CDD and show that CDD is not only genetically heterogeneous but also non-monogenic, requiring mutations in more than one genes for the disease to develop. The data is consistent with the rarity and sporadic presentation of CDD

Expanded rock blast modeling capabilities of DMC{_}BLAST, including buffer blasting

A discrete element computer program named DMC{_}BLAST (Distinct Motion Code) has been under development since 1987 for modeling rock blasting. This program employs explicit time integration and uses spherical or cylindrical elements that are represented as circles in 2-D. DMC{_}BLAST calculations compare favorably with data from actual bench blasts. The blast modeling capabilities of DMC{_}BLAST have been expanded to include independently dipping geologic layers, top surface, bottom surface and pit floor. The pit can also now be defined using coordinates based on the toe of the bench. A method for modeling decked explosives has been developed which allows accurate treatment of the inert materials (stemming) in the explosive column and approximate treatment of different explosives in the same blasthole. A DMC{_}BLAST user can specify decking through a specific geologic layer with either inert material or a different explosive. Another new feature of DMC{_}BLAST is specification of an uplift angle which is the angle between the normal to the blasthole and a vector defining the direction of explosive loading on particles adjacent to the blasthole. A buffer (choke) blast capability has been added for situations where previously blasted material is adjacent to the free face of the bench preventing any significant lateral motion during the blast