Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments

The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized planner - MAPP is described and applied to the task of finding trajectories for dozens UAVs performing nap-of-the-earth flight in urban environments. Results of the experimental studies provide an opportunity to claim that MAPP is a highly efficient planner for solving considered types of tasks

Photo-induced second-order nonlinearity in stoichiometric silicon nitride waveguides

We report the observation of second-harmonic generation in stoichiometric silicon nitride waveguides grown via low-pressure chemical vapour deposition. Quasi-rectangular waveguides with a large cross section were used, with a height of 1 {\mu}m and various different widths, from 0.6 to 1.2 {\mu}m, and with various lengths from 22 to 74 mm. Using a mode-locked laser delivering 6-ps pulses at 1064 nm wavelength with a repetition rate of 20 MHz, 15% of the incoming power was coupled through the waveguide, making maximum average powers of up to 15 mW available in the waveguide. Second-harmonic output was observed with a delay of minutes to several hours after the initial turn-on of pump radiation, showing a fast growth rate between 10$^{-4}$ to 10$^{-2}$ s$^{-1}$, with the shortest delay and highest growth rate at the highest input power. After this first, initial build-up, the second-harmonic became generated instantly with each new turn-on of the pump laser power. Phase matching was found to be present independent of the used waveguide width, although the latter changes the fundamental and second-harmonic phase velocities. We address the presence of a second-order nonlinearity and phase matching, involving an initial, power-dependent build-up, to the coherent photogalvanic effect. The effect, via the third-order nonlinearity and multiphoton absorption leads to a spatially patterned charge separation, which generates a spatially periodic, semi-permanent, DC-field-induced second-order susceptibility with a period that is appropriate for quasi-phase matching. The maximum measured second-harmonic conversion efficiency amounts to 0.4% in a waveguide with 0.9 x 1 {\mu}m$^2$ cross section and 36 mm length, corresponding to 53 {\mu}W at 532 nm with 13 mW of IR input coupled into the waveguide. The according $\chi^{(2)}$ amounts to 3.7 pm/V, as retrieved from the measured conversion efficiency.Comment: 20 pages, 10 figure

Quantitative differential proteomics of yeast extracellular matrix: there is more to it than meets the eye

Background: Saccharomyces cerevisiae multicellular communities are sustained by a scaffolding extracellular matrix, which provides spatial organization, and nutrient and water availability, and ensures group survival. According to this tissue-like biology, the yeast extracellular matrix (yECM) is analogous to the higher Eukaryotes counterpart for its polysaccharide and proteinaceous nature. Few works focused on yeast biofilms, identifying the flocculin Flo11 and several members of the HSP70 in the extracellular space. Molecular composition of the yECM, is therefore mostly unknown. The homologue of yeast Gup1 protein in high Eukaryotes (HHATL) acts as a regulator of Hedgehog signal secretion, therefore interfering in morphogenesis and cell-cell communication through the ECM, which mediates but is also regulated by this signalling pathway. In yeast, the deletion of GUP1 was associated with a vast number of diverse phenotypes including the cellular differentiation that accompanies biofilm formation. Methods: S. cerevisiae W303-1A wt strain and gup1Δ mutant were used as previously described to generate biofilmlike mats in YPDa from which the yECM proteome was extracted. The proteome from extracellular medium from batch liquid growing cultures was used as control for yECM-only secreted proteins. Proteins were separated by SDS-PAGE and 2DE. Identification was performed by HPLC, LC-MS/MS and MALDI-TOF/TOF. The protein expression comparison between the two strains was done by DIGE, and analysed by DeCyder Extended Data Analysis that included Principal Component Analysis and Hierarchical Cluster Analysis. Results: The proteome of S. cerevisiae yECM from biofilm-like mats was purified and analysed by Nano LC-MS/MS, 2D Difference Gel Electrophoresis (DIGE), and MALDI-TOF/TOF. Two strains were compared, wild type and the mutant defective in GUP1. As controls for the identification of the yECM-only proteins, the proteome from liquid batch cultures was also identified. Proteins were grouped into distinct functional classes, mostly Metabolism, Protein Fate/Remodelling and Cell Rescue and Defence mechanisms, standing out the presence of heat shock chaperones, metalloproteinases, broad signalling cross-talkers and other putative signalling proteins. The data has been deposited to the ProteomeXchange with identifier PXD001133.Conclusions: yECM, as the mammalian counterpart, emerges as highly proteinaceous. As in higher Eukaryotes ECM, numerous proteins that could allow dynamic remodelling, and signalling events to occur in/and via yECM were identified. Importantly, large sets of enzymes encompassing full antagonistic metabolic pathways, suggest that mats develop into two metabolically distinct populations, suggesting that either extensive moonlighting or actual metabolism occurs extracellularly. The gup1Δ showed abnormally loose ECM texture. Accordingly, the correspondent differences in proteome unveiled acetic and citric acid producing enzymes as putative players in structural integrity maintenance.This work was funded by the Marie Curie Initial Training Network GLYCOPHARM (PITN-GA-2012-317297), and by national funds from FCT I.P. through the strategic funding UID/BIA/04050/2013. Fábio Faria-Oliveira was supported by a PhD scholarship (SFRH/BD/45368/2008) from FCT (Fundação para a Ciência e a Tecnologia). We thank David Caceres and Montserrat MartinezGomariz from the Unidad de Proteómica, Universidad Complutense de Madrid – Parque Científico de Madrid, Spain for excellent technical assistance in the successful implementation of all proteomics procedures including peptide identification, and Joana Tulha from the CBMA, Universidade do Minho, Portugal, for helping with the SDS-PAGE experiments, and the tedious and laborious ECM extraction procedures. The mass spectrometry proteomics data have been deposited to the ProteomeXchange Consortium, via the PRIDE partner repository, with the dataset identifier PXD001133. We would like to thank the PRIDE team for all the help and support during the submission process.info:eu-repo/semantics/publishedVersio

Occupational asthma follow-up — which markers are elevated in exhaled breath condensate and plasma?

Objectives: To search for optimal markers in the exhaled breath condensate (EBC), plasma and urine that would reflect the activity/ severity of occupational asthma (OA) after the withdrawal from the exposure to the allergen. Material and Methods: Markers of oxidative stress: 8-iso-prostaglandin F2α (8-isoprostane, 8-ISO), malondialdehyde (MDA), 4-hydroxy-trans-2-nonenale (HNE), cysteinyl leukotrienes (LT) and LTB4 were determined using liquid chromatography and mass spectrometry in 43 subjects with immunological OA (49.3±11.8 years), removed from the exposure to the sensitizing agent 10.5±6.5 years ago; and in 20 healthy subjects (49.0±14.9 years). EBC was harvested both before and after the methacholine challenge test. In parallel, identical markers were collected in plasma and urine. The results were analyzed together with forced expiratory volume in one second (FEV1), blood eosinophils, immunoglobulin E (IgE) and eosinophilic cationic protein (ECP) and statistically evaluated (Spearman rank correlation rS, two- or one-sample t tests and alternatively Kruskal Wallis or pair Wilcoxon tests). Results: Several parameters of lung functions were lower in the patients (FEV1% predicted, MEF25% and MEF50%, Rtot%, p < 0.001). Shorter time interval since the removal from the allergen exposure correlated with higher ECP (rS = 0.375) and lower FEV1%, MEF25% and MEF50% after methacholine challenge (rS = -0.404, -0.425 and -0.532, respectively). In the patients, IgE (p < 0.001) and ECP (p = 0.009) was increased compared to controls. In EBC, 8-ISO and cysteinyl LTs were elevated in the asthmatics initially and after the challenge. Initial 8-ISO in plasma correlated negatively with FEV1 (rS = -0.409) and with methacholine PD20 (rS = -0.474). 8-ISO in plasma after the challenge correlated with IgE (rS = 0.396). Conclusions: The improvement in OA is very slow and objective impairments persist years after removal from the exposure. Cysteinyl LTs and 8-ISO in EBC and 8-ISO in plasma might enrich the spectrum of useful objective tests for the follow-up of OA

Fossil wood from the doupovské hory and České středohoří volcanic complexes: Latest overview and new angiosperms from the locality dvérce

Since 1855, 25 different fossil wood types belonging to conifers (Cupressaceae s.l. with two different types of Taxodioxylon gypsaceum: root-and stem-wood), and angiosperms (families Magnoliaceae, Lauraceae, Platanaceae, Altingiaceae, Cercidiphyllaceae, Ulmaceae, ?Moraceae, Juglandaceae, Betulaceae, Malvaceae s.l., Sapotaceae, Oleaceae, one palm stem, and two types of angiosperms without closer determination) were described so far from 13 localities in the Doupovské hory and České středohoří Mts. New fossil woods are described from the Dvérce locality in southeastern part of the Doupovské hory Mts., i.e., one conifer (Cupressaceae s.l.) and four types of angiosperms (Platanaceae, Ulmaceae, Juglandaceae, and Oleaceae). The co-occurrence of juglanda-ceous fossil wood remnant with Carya nuts allows the application of the whole-plant concept and the combination of Carya quadrangula and Eucaryoxylon crystallophorum into one botanical species. Occurrences of the fossil plant remnants are associated with freshwater limestones, interpreted here as travertines. The travertines made lenticular accumulations in the pyroclastic deposits of the Doupovské hory volcanix complex. © 2019 E. Schweizerbart’sche Verlagsbuchhandlung, Stuttgart, Germany

Large-scale online ridesharing: the effect of assignment optimality on system performance

Mobility-on-demand (MoD) systems consist of a fleet of shared vehicles that can be hailed for one-way point-to-point trips. The total distance driven by the vehicles and the fleet size can be reduced by employing ridesharing, i.e., by assigning multiple passengers to one vehicle. However, finding the optimal passenger-vehicle assignment in an MoD system is a hard combinatorial problem. In this work, we demonstrate how the VGA method, a recently proposed systematic method for ridesharing, can be used to compute the optimal passenger-vehicle assignments and corresponding vehicle routes in a massive-scale MoD system. In contrast to existing works, we solve all passenger-vehicle assignment problems to optimality, regularly dealing with instances containing thousands of vehicles and passengers. Moreover, to examine the impact of using optimal ridesharing assignments, we compare the performance of an MoD system that uses optimal assignments against an MoD system that uses assignments computed using insertion heuristic and against an MoD system that uses no ridesharing. We found that the system that uses optimal ridesharing assignments subject to the maximum travel delay of 4 minutes reduces the vehicle distance driven by 57% compared to an MoD system without ridesharing. Furthermore, we found that the optimal assignments result in a 20% reduction in vehicle distance driven and 5% lower average passenger travel delay compared to a system that uses insertion heuristic.</p

Ondřejov Echelle Spectrograph -OES

This paper describes the OES echelle spectrograph, a new coudé focus instrument of the 2 m telescope at Ondřejov Observatory. The design, optical scheme, and mechanical solutions are presented. A brief review of laboratory tests is given, too

Self-phase modulation in slow-wave structures: A comparative numerical analysis

Self-phase modulation effects in 1D optical slow-wave structures made of Fabry-Pérot cavities coupled by Distributed Bragg Reflectors (DBRs) are discussed. The nonlinear response of the structure is investigated by a comparative analysis of several numerical methods operating either in time or frequency-domain. Time-domain methods include two Finite-Difference Time-Domain approaches, respectively, optimized to compensate for numerical dispersion and to model nonlinearity at any order. In the frequency-domain an efficient method based on a numerical integration of Maxwell’s equations and an iterative nonlinear extension of the Eigenmode Expansion method are discussed. A Nonlinear Equivalent Circuit of DBRs is also presented as a useful model to reduce computational efforts. Numerical results show that bistable effects and self-pulsing phenomena can occur when either the optical power or the number of coupled cavities of the structure are sufficiently increased