Real-time WiFi localization of heterogeneous robot teams using an online random forest

In this paper we present a WiFi-based solution to the localization and mapping problem for teams of heterogeneous robots operating in unknown environments. By exploiting wireless signal strengths broadcast from access points, a robot with a large sensor payload creates a WiFi signal map that can then be shared and utilized for localization by sensor-deprived robots. In our approach, WiFi localization is cast as a classification problem. An online clustering algorithm processes incoming WiFi signals that are then incorporated into an online random forest (ORF). The algorithm’s robustness is increased by a Monte Carlo localization algorithm whose sensor model exploits the results of the ORF classification. The proposed algorithm is shown to run in real-time, allowing the robots to operate in completely unknown environments, where a priori information such as a blue-print or the access points’ location is unavailable. A comprehensive set of experiments not only compares our approach with other algorithms, but also validates the results across different scenarios covering both indoor and outdoor environments

Sustained Na⁺/H⁺ exchanger activation promotes gliotransmitter release from reactive hippocampal astrocytes following oxygen-glucose deprivation

Hypoxia ischemia (HI)-related brain injury is the major cause of long-term morbidity in neonates. One characteristic hallmark of neonatal HI is the development of reactive astrogliosis in the hippocampus. However, the impact of reactive astrogliosis in hippocampal damage after neonatal HI is not fully understood. In the current study, we investigated the role of Na +/H+ exchanger isoform 1 (NHE1) protein in mouse reactive hippocampal astrocyte function in an in vitro ischemia model (oxygen/glucose deprivation and reoxygenation, OGD/REOX). 2 h OGD significantly increased NHE1 protein expression and NHE1-mediated H+ efflux in hippocampal astrocytes. NHE1 activity remained stimulated during 1-5 h REOX and returned to the basal level at 24 h REOX. NHE1 activation in hippocampal astrocytes resulted in intracellular Na+ and Ca2+ overload. The latter was mediated by reversal of Na+/Ca2+ exchange. Hippocampal astrocytes also exhibited a robust release of gliotransmitters (glutamate and pro-inflammatory cytokines IL-6 and TNFα) during 1-24 h REOX. Interestingly, inhibition of NHE1 activity with its potent inhibitor HOE 642 not only reduced Na+ overload but also gliotransmitter release from hippocampal astrocytes. The noncompetitive excitatory amino acid transporter inhibitor TBOA showed a similar effect on blocking the glutamate release. Taken together, we concluded that NHE1 plays an essential role in maintaining H + homeostasis in hippocampal astrocytes. Over-stimulation of NHE1 activity following in vitro ischemia disrupts Na+ and Ca2+ homeostasis, which reduces Na+-dependent glutamate uptake and promotes release of glutamate and cytokines from reactive astrocytes. Therefore, blocking sustained NHE1 activation in reactive astrocytes may provide neuroprotection following HI. © 2014 Cengiz et al

X chromosomal regulation in flies: when less is more

In Drosophila, dosage compensation of the single male X chromosome involves upregulation of expression of X linked genes. Dosage compensation complex or the male specific lethal (MSL) complex is intimately involved in this regulation. The MSL complex members decorate the male X chromosome by binding on hundreds of sites along the X chromosome. Recent genome wide analysis has brought new light into X chromosomal regulation. It is becoming increasingly clear that although the X chromosome achieves male specific regulation via the MSL complex members, a number of general factors also impinge on this regulation. Future studies integrating these aspects promise to shed more light into this epigenetic phenomenon

Real-time WiFi localization of heterogeneous robot teams using an online random forest

In this paper we present a WiFi-based solution to the localization and mapping problem for teams of heterogeneous robots operating in unknown environments. By exploiting wireless signal strengths broadcast from access points, a robot with a large sensor payload creates a WiFi signal map that can then be shared and utilized for localization by sensor-deprived robots. In our approach, WiFi localization is cast as a classification problem. An online clustering algorithm processes incoming WiFi signals that are then incorporated into an online random forest (ORF). The algorithm’s robustness is increased by a Monte Carlo localization algorithm whose sensor model exploits the results of the ORF classification. The proposed algorithm is shown to run in real-time, allowing the robots to operate in completely unknown environments, where a priori information such as a blue-print or the access points’ location is unavailable. A comprehensive set of experiments not only compares our approach with other algorithms, but also validates the results across different scenarios covering both indoor and outdoor environments

Mechanical properties and surface energies of low density polyethylene poly(vinyl chloride) blends

A series of blends of poly(vinyl chloride) (PVC) and low density polyethylene (LDPE) are prepared and examined. Plasma treatment is applied to one of the components (LDPE) in order to affect the degree of compatibility. For this purpose, different monomers, such as carbon tetrachloride and vinyl chloride, are used. Tensile test results for all the blend samples, with and without plasma-treated LDPE, are compared. The surface energy results of blends prepared from untreated and treated LDPE-PVC showed considerable differences, with appreciable increases for the latter, indicating an increase in the work of adhesion as a result of the plasma surface modifications applied. The tensile test results and the measured surface energies are found to show a similar parallel behaviour