A novel algorithm for integrated control model using swarm robots for intruder detection and rescue schedules

Due to the development of computer controlled tools and expansion of integrated computing applications, more and more controller functions are turning to software implementations. A novel controlling algorithm is designed for continuous optimization tasks. However, they are used to thoroughly optimize and apply different areas. The most intelligent swarm algorithms have been designed for continuous optimization problems. However, they have been applied to discreet optimization and applications in different areas. This article gives experimental results on the control of swarm robots with the help of integrated control model (ICM), around its own axis. Such methodology is quite impressive in development of applications for surveillance, path planning, intruder and obstacle detection, model errors in communication to remove uncertainty. The ICM control design performance is based on comprehensive swarm robot model for the identification of actuators from testing data. The same ICM controllers are designed to be compared with the PID controllers in a variety of tests and collected feedback found 12.37%, 8.69% and 12.09% improved on the basis of thrust produced in the propellers for surveillance

Large-scale shell-model calculations near mass region 100-130

308-313In this work, we have presented a microscopic shell-model description of the structure and collective behavior of intermediate-mass nuclei around doubly magic 100Sn and 132Sn nuclei. The Sn-isotopes lie between the two doubly magic nuclei and cover a range from exotic proton-rich N=Z nuclei to exotic neutron-rich nuclei with N/Z > 1.6. The results obtained using BIGSTICK code for the low-level excitation states and transition probabilities for the studied Sn and Ba isotopic chains have been discussed in the radiance of available experimental data. We have used 100Sn as a core for all the studied isotopes with the same valence space (i.e. 1d5/2, 2s1/2, 1d3/2, 0g7/2, 0h11/2 or ‘sdgh’) for both protons (Z) and neutrons (N) between 50 and 82. These calculations are performed by means of globally optimized monopole effective interaction for the sdgh-shell

Oct-2 DNA binding transcription factor: functional consequences of phosphorylation and glycosylation

Phosphorylation and O-GlcNAc modification often induce conformational changes and allow the protein to specifically interact with other proteins. Interplay of phosphorylation and O-GlcNAc modification at the same conserved site may result in the protein undergoing functional switches. We describe that at conserved Ser/Thr residues of human Oct-2, alternative phosphorylation and O-GlcNAc modification (Yin Yang sites) can be predicted by the YinOYang1.2 method. We propose here that alternative phosphorylation and O-GlcNAc modification at Ser191 in the N-terminal region, Ser271 and 274 in the linker region of two POU sub-domains and Thr301 and Ser323 in the POUh subdomain are involved in the differential binding behavior of Oct-2 to the octamer DNA motif. This implies that phosphorylation or O-GlcNAc modification of the same amino acid may result in a different binding capacity of the modified protein. In the C-terminal domain, Ser371, 389 and 394 are additional Yin Yang sites that could be involved in the modulation of Oct-2 binding propertie

Nernst-Planck model of photo-triggered, pH-tunable ionic transport through nanopores functionalized with "caged" lysine chains

We describe the fabrication of asymmetric nanopores sensitive to ultraviolet (UV) light, and give a detailed account of the divalent ionic transport through these pores using a theoretical model based on the Nernst-Planck equations. The pore surface is decorated with lysine chains having pH-sensitive (amine and carboxylic acid) moieties that are caged with photo-labile 4,5-dimethoxy- 2-nitrobenzyl (NVOC) groups. The uncharged hydrophobic NVOC groups are removed using UV irradiation, leading to the generation of hydrophilic “uncaged” amphoteric groups on the pore surface. We demonstrate experimentally that polymer membranes containing single pore and arrays of asymmetric nanopores can be employed for the pH-controlled transport of ionic and molecular analytes. Comparison between theory and experiment allows for understanding the individual properties of the phototriggered nanopores, and provides also useful clues for the design and fabrication of multipore membranes to be used in practical applications. © 2013 American Institute of Physics.The authors would like to thank Miguel Ferrandez and Juan Pablo Arranz for assistance in the preparation of the artwork. P. R. and S. M. acknowledge financial support from the Ministerio de Economia y Competitividad (Projects Nos. MAT2009-07747 and MAT2012-32084), the Generalitat Valenciana (Project No. PROMETEO/GV/0069), and FEDER. S.N., M. A., and W. E. gratefully acknowledge financial support by the Beilstein-Institut, Frankfurt/Main, Germany, within the research collaboration NanoBiC, and L. F. and I. A. DFG-CFN Excellence Initiative Project A5.7. The authors thank Dr. Christina Trautmann from GSI (Materials research group) for support with the heavy ion irradiation experiments, and Dr. M. N. Tahir (Mainz University) for fruitful discussions and help in performing the UV light irradiation experiments.Nasir, S.; Ramirez Hoyos, P.; Ali, M.; Ahmed, I.; Fruk, L.; Mafé, S.; Ensinger, W. (2013). Nernst-Planck model of photo-triggered, pH-tunable ionic transport through nanopores functionalized with "caged" lysine chains. Journal of Chemical Physics. 138(3):034709-1-034709-11. doi:10.1063/1.4775811S034709-1034709-111383Healy, K. (2007). Nanopore-based single-molecule DNA analysis. Nanomedicine, 2(4), 459-481. doi:10.2217/17435889.2.4.459Griffiths, J. (2008). The Realm of the Nanopore. Analytical Chemistry, 80(1), 23-27. doi:10.1021/ac085995zJovanovic-Talisman, T., Tetenbaum-Novatt, J., McKenney, A. S., Zilman, A., Peters, R., Rout, M. P., & Chait, B. T. (2008). Artificial nanopores that mimic the transport selectivity of the nuclear pore complex. Nature, 457(7232), 1023-1027. doi:10.1038/nature07600Schoch, R. B., Han, J., & Renaud, P. (2008). Transport phenomena in nanofluidics. 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Analytical and Bioanalytical Chemistry, 394(2), 413-419. doi:10.1007/s00216-008-2545-3Mafe, S., Manzanares, J. A., & Ramirez, P. (2010). Gating of Nanopores: Modeling and Implementation of Logic Gates. The Journal of Physical Chemistry C, 114(49), 21287-21290. doi:10.1021/jp1087114Nasir, S., Ali, M., & Ensinger, W. (2012). Thermally controlled permeation of ionic molecules through synthetic nanopores functionalized with amine-terminated polymer brushes. Nanotechnology, 23(22), 225502. doi:10.1088/0957-4484/23/22/225502Guo, W., Xia, H., Cao, L., Xia, F., Wang, S., Zhang, G., … Zhu, D. (2010). Integrating Ionic Gate and Rectifier Within One Solid-State Nanopore via Modification with Dual-Responsive Copolymer Brushes. Advanced Functional Materials, 20(20), 3561-3567. doi:10.1002/adfm.201000989Ali, M., Ramirez, P., Mafé, S., Neumann, R., & Ensinger, W. (2009). A pH-Tunable Nanofluidic Diode with a Broad Range of Rectifying Properties. ACS Nano, 3(3), 603-608. doi:10.1021/nn900039fAli, M., Mafe, S., Ramirez, P., Neumann, R., & Ensinger, W. (2009). Logic Gates Using Nanofluidic Diodes Based on Conical Nanopores Functionalized with Polyprotic Acid Chains. Langmuir, 25(20), 11993-11997. doi:10.1021/la902792fHou, X., Liu, Y., Dong, H., Yang, F., Li, L., & Jiang, L. (2010). A pH-Gating Ionic Transport Nanodevice: Asymmetric Chemical Modification of Single Nanochannels. Advanced Materials, 22(22), 2440-2443. doi:10.1002/adma.200904268Hou, X., Guo, W., Xia, F., Nie, F.-Q., Dong, H., Tian, Y., … Jiang, L. (2009). A Biomimetic Potassium Responsive Nanochannel: G-Quadruplex DNA Conformational Switching in a Synthetic Nanopore. Journal of the American Chemical Society, 131(22), 7800-7805. doi:10.1021/ja901574cHe, Y., Gillespie, D., Boda, D., Vlassiouk, I., Eisenberg, R. S., & Siwy, Z. S. (2009). Tuning Transport Properties of Nanofluidic Devices with Local Charge Inversion. Journal of the American Chemical Society, 131(14), 5194-5202. doi:10.1021/ja808717uAli, M., Neumann, R., & Ensinger, W. (2010). Sequence-Specific Recognition of DNA Oligomer Using Peptide Nucleic Acid (PNA)-Modified Synthetic Ion Channels: PNA/DNA Hybridization in Nanoconfined Environment. ACS Nano, 4(12), 7267-7274. doi:10.1021/nn102119qAli, M., Tahir, M. N., Siwy, Z., Neumann, R., Tremel, W., & Ensinger, W. (2011). Hydrogen Peroxide Sensing with Horseradish Peroxidase-Modified Polymer Single Conical Nanochannels. Analytical Chemistry, 83(5), 1673-1680. doi:10.1021/ac102795aVlassiouk, I., & Siwy, Z. S. (2007). Nanofluidic Diode. Nano Letters, 7(3), 552-556. doi:10.1021/nl062924bKalman, E. B., Vlassiouk, I., & Siwy, Z. S. (2008). Nanofluidic Bipolar Transistors. Advanced Materials, 20(2), 293-297. doi:10.1002/adma.200701867Ali, M., Ramirez, P., Tahir, M. N., Mafe, S., Siwy, Z., Neumann, R., … Ensinger, W. (2011). Biomolecular conjugation inside synthetic polymer nanopores via glycoprotein–lectin interactions. Nanoscale, 3(4), 1894. doi:10.1039/c1nr00003aHou, X., Yang, F., Li, L., Song, Y., Jiang, L., & Zhu, D. (2010). A Biomimetic Asymmetric Responsive Single Nanochannel. Journal of the American Chemical Society, 132(33), 11736-11742. doi:10.1021/ja1045082Healy, K., Schiedt, B., & Morrison, A. P. (2007). Solid-state nanopore technologies for nanopore-based DNA analysis. Nanomedicine, 2(6), 875-897. doi:10.2217/17435889.2.6.875Martin, C. R., & Siwy, Z. S. (2007). CHEMISTRY: Learning Nature’s Way: Biosensing with Synthetic Nanopores. Science, 317(5836), 331-332. doi:10.1126/science.1146126Guo, W., Cao, L., Xia, J., Nie, F.-Q., Ma, W., Xue, J., … Jiang, L. (2010). Energy Harvesting with Single-Ion-Selective Nanopores: A Concentration-Gradient-Driven Nanofluidic Power Source. 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Asymmetric ion track nanopores for sensor technology. Reconstruction of pore profile from conductometric measurements. Nanotechnology, 23(22), 225503. doi:10.1088/0957-4484/23/22/225503Li, N., Yu, S., Harrell, C. C., & Martin, C. R. (2004). Conical Nanopore Membranes. Preparation and Transport Properties. Analytical Chemistry, 76(7), 2025-2030. doi:10.1021/ac035402eHarrell, C. C., Kohli, P., Siwy, Z., & Martin, C. R. (2004). DNA−Nanotube Artificial Ion Channels. Journal of the American Chemical Society, 126(48), 15646-15647. doi:10.1021/ja044948vManzanares, J. A., Mafé, S., & Pellicer, J. (1992). Current efficiency enhancement in membranes with macroscopic inhomogeneities in the fixed charge distribution. J. Chem. Soc., Faraday Trans., 88(16), 2355-2364. doi:10.1039/ft9928802355MacGillivray, A. D. (1968). Nernst‐Planck Equations and the Electroneutrality and Donnan Equilibrium Assumptions. The Journal of Chemical Physics, 48(7), 2903-2907. doi:10.1063/1.1669549Rubinstein, I. (1990). 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Prenex Separation Logic with One Selector Field

International audienceWe show that infinite satisfiability can be reduced to finite satisfiabil-ity for all prenex formulas of Separation Logic with k ≥ 1 selector fields (SL k). This fact entails the decidability of the finite and infinite satisfiability problems for the class of prenex formulas of SL 1 , by reduction to the first-order theory of a single unary function symbol and an arbitrary number of unary predicate symbols. We also prove that the complexity of this fragment is not elementary recursive, by reduction from the first-order theory of one unary function symbol. Finally, we prove that the Bernays-Schönfinkel-Ramsey fragment of prenex SL 1 formulas with quantifier prefix in the language ∃ * ∀ * is PSPACE-complete

Large-scale shell-model calculations near mass region 100-130

In this work, we have presented a microscopic shell-model description of the structure and collective behavior of intermediate-mass nuclei around doubly magic 100Sn and 132Sn nuclei. The Sn-isotopes lie between the two doubly magic nuclei and cover a range from exotic proton-rich N=Z nuclei to exotic neutron-rich nuclei with N/Z > 1.6. The results obtained using BIGSTICK code for the low-level excitation states and transition probabilities for the studied Sn and Ba isotopic chains have been discussed in the radiance of available experimental data. We have used 100Sn as a core for all the studied isotopes with the same valence space (i.e. 1d5/2, 2s1/2, 1d3/2, 0g7/2, 0h11/2 or ‘sdgh’) for both protons (Z) and neutrons (N) between 50 and 82. These calculations are performed by means of globally optimized monopole effective interaction for the sdgh-shell

Prevalence and Diversity of Avian Hematozoan Parasites in Asia: A Regional Study

Tissue samples from 699 birds from three regions of Asia (Myanmar, India, and South Korea) were screened for evidence of infection by avian parasites in the genera Plasmodium and Haemoproteus. Samples were collected from November 1994 to October 2004. We identified 241 infected birds (34.0%). Base-on-sequence data for the cytochrome b gene from 221 positive samples, 34 distinct lineages of Plasmodium, and 41 of Haemoproteus were detected. Parasite diversity was highest in Myanmar followed by India and South Korea. Parasite prevalence differed among regions but not among host families. There were four lineages of Plasmodium and one of Haemoproteus shared between Myanmar and India and only one lineage of Plasmodium shared between Myanmar and South Korea. No lineages were shared between India and South Korea, although an equal number of distinct lineages were recovered from each region. Migratory birds in South Korea and India originate from two different migratory flyways; therefore cross-transmission of parasite lineages may be less likely. India and Myanmar shared more host species and habitat types compared to South Korea. Comparison between low-elevation habitat in India and Myanmar showed a difference in prevalence of haematozoans

Genetic diversity associated with agronomic traits using microsatellite markers in Pakistani rice landraces

Genetic diversity underlies the improvement of crops by plant breeding. Land races of rice ( Oryza sativa L.) can contain some valuable alleles not common in modern germplasm. The aim here was to measure genetic diversity and its effect on agronomic traits among rice land-race genotypes grown in Pakistan. Diversity was measured using thirty-five microsatellite markers and seventy-five genotypes. Among the markers used a total of 142 alleles were detected at 32 polymorphic SSR loci, while three loci were monomorphic in Pakistani rice landraces. The number of alleles identified by each marker ranged from 2 to 13 with a mean of 4.4. Size differences between the smallest and largest alleles varied from 11bp to 71bp. Polymorphism information content ranged from 0.124 to 0.836, with an average of 0.569. At nine microsatellite loci, basmati-type landraces amplified more different alleles than those in the coarse-type. DNA markers RM70 and RM72 divided the rice landraces on the basis of days to flowering. A dendrogram based on total microsatellite polymorphism grouped 75 genotypes into four major clusters at 0.40 similarity coefficient, differentiating tall, late maturing and slender aromatic types from the short, early and bold non-aromatic ones. It inferred that Pakistani landraces have diverse genetic bases and can be utilized in future breeding programs. The DNA markers developed will assist in genotype identification, purity testing and plant variety protection

Impact of 4.0% chlorhexidine cleansing of the umbilical cord on mortality and omphalitis among newborns of Sylhet, Bangladesh: design of a community-based cluster randomized trial

<p>Abstract</p> <p>Background</p> <p>The World Health Organization recommends dry cord care for newborns but this recommendation may not be optimal in low resource settings where most births take place in an unclean environment and infections account for up to half of neonatal deaths. A previous trial in Nepal indicated that umbilical cord cleansing with 4.0% chlorhexidine could substantially reduce mortality and omphalitis risk, but policy changes await additional community-based data.</p> <p>Methods</p> <p>The Projahnmo Chlorhexidine study was a three-year, cluster-randomized, community-based trial to assess the impact of three cord care regimens on neonatal mortality and omphalitis. Women were recruited mid-pregnancy, received a basic package of maternal and neonatal health promotion messages, and were followed to pregnancy outcome. Newborns were visited at home by local village-based workers whose areas were randomized to either 1) single- or 2) 7-day cord cleansing with 4.0% chlorhexidine, or 3) promotion of dry cord care as recommended by WHO. All mothers received basic messages regarding hand-washing, clean cord cutting, and avoidance of harmful home-base applications to the cord. Death within 28 days and omphalitis were the primary outcomes; these were monitored directly through home visits by community health workers on days 1, 3, 6, 9, 15, and 28 after birth.</p> <p>Discussion</p> <p>Due to report in early 2010, the Projahnmo Chlorhexidine Study examines the impact of multiple or single chlorhexidine cleansing of the cord on neonatal mortality and omphalitis among newborns of rural Sylhet District, Bangladesh. The results of this trial will be interpreted in conjunction with a similarly designed trial previously conducted in Nepal, and will have implications for policy guidelines for optimal cord care of newborns in low resource settings in Asia.</p> <p>Trial Registration</p> <p>ClinicalTrials.gov (NCT00434408)</p