Trajectory Planning Under Time-Constrained Communication

In the present paper we address the problem of trajectory planning for scenarios in which some robot has to exchange information with other moving robots for at least a certain time, determined by the amount of information. We are particularly focused on scenarios where a team of robots must be deployed, reaching some locations to make observations of the environment. The information gathered by all the robots must be shared with an operation center (OP), thus some robots are devoted to retransmit to the OP the data of their teammates. We develop a trajectory planning method called Time-Constrained RRT (TC-RRT). It computes trajectories to reach the assigned primary goals, but subjected to the constraint determined by the need of communicating with another robot acting as moving relay, just during the time it takes to fulfill the data exchange. Against other methods in the literature, using this method it is not needed a task allocator to assign beforehand specific meeting points or areas for communication exchange, because the planner finds the best area to do it, simultaneously minimizing the time to reach the goal. Evaluation and limitations of the technique are presented for different system parameters

Simulated responses of soil organic carbon stock to tillage management scenarios in the Northwest Great Plains

© 2007 Tan et al; licensee BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution Licens

Capsid and Infectivity in Virus Detection

The spectacular achievements and elegance of viral RNA analyses have somewhat obscured the importance of the capsid in transmission of viruses via food and water. The capsid’s essential roles are protection of the RNA when the virion is outside the host cell and initiation of infection when the virion contacts a receptor on an appropriate host cell. Capsids of environmentally transmitted viruses are phenomenally durable. Fortuitous properties of the capsid include antigenicity, isoelectric point(s), sometimes hemagglutination, and perhaps others. These can potentially be used to characterize capsid changes that cause or accompany loss of viral infectivity and may be valuable in distinguishing native from inactivated virus when molecular detection methods are used

CD3Z Genetic Polymorphism in Immune Response to Hepatitis B Vaccination in Two Independent Chinese Populations

Vaccination against hepatitis B virus is an effective and routine practice that can prevent infection. However, vaccine-induced immunity to hepatitis B varies among individuals. CD4+ T helper cells, which play an important role in both cellular and humoral immunity, are involved in the immune response elicited by vaccination. Polymorphisms in the genes involved in stimulating the activation and proliferation of CD4+ T helper cells may influence the immune response to hepatitis B vaccination. In the first stage of the present study, a total of 111 single nucleotide polymorphisms (SNPs) in 17 genes were analyzed, using the iPLEX MassARRAY system, among 214 high responders and 107 low responders to hepatitis B vaccination. Three SNPs (rs12133337 and rs10918706 in CD3Z, rs10912564 in OX40L) were associated significantly with the immune response to hepatitis B vaccination (P = 0.008, 0.041, and 0.019, respectively). The three SNPs were analyzed further with the TaqMan-MGB or TaqMan-BHQ probe-based real-time polymerase chain reaction in another independent population, which included 1090 high responders and 636 low responders. The minor allele ‘C’ of rs12133337 continued to show an association with a lower response to hepatitis B vaccination (P = 0.033, odds radio = 1.28, 95% confidence interval = 1.01–1.61). Furthermore, in the stratified analysis for both the first and second populations, the association of the minor allele ‘C’ of rs12133337 with a lower response to hepatitis B vaccination was more prominent after individuals who were overweight or obese (body mass index ≥25 kg/m2) were excluded (1st stage: P = 0.003, 2nd stage: P = 0.002, P-combined = 9.47e-5). These findings suggest that the rs12133337 polymorphism in the CD3Z gene might affect the immune response to hepatitis B vaccination, and that a lower BMI might increase the contribution of the polymorphism to immunity to hepatitis B vaccination

Epidemiologic and clinical updates on impulse control disorders: a critical review

The article reviews the current knowledge about the impulse control disorders (ICDs) with specific emphasis on epidemiological and pharmacological advances. In addition to the traditional ICDs present in the DSM-IV—pathological gambling, trichotillomania, kleptomania, pyromania and intermittent explosive disorder—a brief description of the new proposed ICDs—compulsive–impulsive (C–I) Internet usage disorder, C–I sexual behaviors, C–I skin picking and C–I shopping—is provided. Specifically, the article summarizes the phenomenology, epidemiology and comorbidity of the ICDs. Particular attention is paid to the relationship between ICDs and obsessive–compulsive disorder (OCD). Finally, current pharmacological options for treating ICDs are presented and discussed

The difference that ‘one drop’ makes: Mexican and African Americans, mixedness and racial categorisation in the early twentieth century

Using archival materials, I will examine how the mixed ancestry of African and Mexican Americans was treated, both in law and discourse, in distinctly contrasting ways in the early 20th century. I will argue that black and Mexican subjects were positioned in qualitatively different ways in relation to whiteness. Furthermore, the singular treatment of ‘black blood’ as a social toxin, a construction emerging within the specific circumstances of American slavery, also informed the subjective positioning of Mexicans, as well as shaping some Mexican Americans’ responses to racism

Roadmap Learning for Probabilistic Occupancy Maps with Topology-Informed Growing Neural Gas

We address the problem of generating navigation roadmaps for uncertain and cluttered environments represented with probabilistic occupancy maps. A key challenge is to generate roadmaps that provide connectivity through tight passages and paths around uncertain obstacles. We propose the topology-informed growing neural gas algorithm that leverages estimates of probabilistic topological structures computed using persistent homology theory. These topological structure estimates inform the random sampling distribution to focus the roadmap learning on challenging regions of the environment that have not yet been learned correctly. We present experiments for three real-world indoor point-cloud datasets represented as Hilbert maps. Our method outperforms baseline methods in terms of graph connectivity, path solution quality, and search efficiency. Compared to a much denser PRM*, our method achieves similar performance while enabling a 27× faster query time for shortest-path searches

Online Multi-modal Learning and Adaptive Informative Trajectory Planning for Autonomous Exploration

In robotic information gathering missions, scientists are typically interested in understanding variables which require proxy measurements from specialized sensor suites to estimate. However, energy and time constraints limit how often these sensors can be used in a mission. Robots are also equipped with cheaper to use navigation sensors such as cameras. In this paper, we explore a challenging planning problem in which a robot is required to learn about a scientific variable of interest in an initially unknown environment by planning informative paths and deciding when and where to use its sensors. To tackle this we present two innovations: a Bayesian generative model framework to automatically learn correlations between expensive science sensors and cheaper to use navigation sensors online, and a sampling based approach to plan for multiple sensors while handling long horizons and budget constraints. Our approach does not grow in complexity with data and is anytime making it highly applicable to field robotics. We tested our approach extensively in simulation and validated it with real data collected during the 2014 Mojave Volatiles Prospector Mission. Our planning algorithm performs statistically significantly better than myopic approaches and at least as well as a coverage-based algorithm in an initially unknown environment while having added advantages of being able to exploit prior knowledge and handle other intricacies of the real world without further algorithmic modifications