Self-describing and data propagation model for data distribution service

Abstract. To realize real-time information sharing in generic platforms, it is especially important to support dynamic message structure changes. For the case of IDL, it is necessary to rewrite applications to change data sample structures. In this paper, we propose a dynamic reconfiguration scheme of data sample structures for DDS. Instead of using IDL, which is the static data sample structure model of DDS, we use a self describing model using data sample schema, as a dynamic data sample structure model to support dynamic reconfiguration of data sample structures. We also propose a data propagation model to provide data persistency in distributed environments. We guarantee persistency by transferring data samples through relay nodes to the receiving nodes, which have not participated in the data distribution network at the data sample distribution time. The proposed schemes can be utilized to support data sample structure changes during operation time and to provide data persistency in various environments, such as real-time enterprise environments and connection-less internet environments

Model Predictive Control Method for Autonomous Vehicles Using Time-Varying and Non-Uniformly Spaced Horizon

This paper proposes an algorithm for path-following and collision avoidance of an autonomous vehicle based on model predictive control (MPC) using time-varying and non-uniformly spaced horizon. The MPC based on non-uniformly spaced horizon approach uses the time intervals that are small for the near future, and time intervals that are large for the distant future, to extend the length of the whole prediction horizon with a fixed number of prediction steps. This MPC has the advantage of being able to detect obstacles in advance because it can see the distant future. However, the presence of longer time interval samples may lead to poor path-following performance, especially for paths with high curvature. The proposed algorithm performs proper adjustment of the prediction interval according to a given situation. For sections with large curvature, it uses the short prediction intervals to increase the path-following performance; further, to consider obstacles over a wider range, it uses the long prediction intervals. This technique allows simultaneous improvement of the path-following performance and the range of obstacle avoidance with fixed computational complexity. The effectiveness of the proposed method is verified through an open-source simulator, CARLA and real-time experiments

Orthogonal Liquid Crystal Alignment Layer: Templating Speed-Dependent Orientation of Chromonic Liquid Crystals

Lyotropic chromonic liquid crystals (LCLCs) have been extensively studied because of the interesting structural characteristics of the linear aggregation of their plank-shaped molecules in aqueous solvents. We report a simple method to control the orientation of LCLCs such as Sunset Yellow (SSY), disodium cromoglycate (DSCG), and DNA by varying pulling speed of the top substrate and temperatures during shear flow induced experiment. Crystallized columns of LCLCs are aligned parallel and perpendicular to the shear direction, at fast and slow pulling speeds of the top substrate, respectively. On the basis of this result, we fabricated an orthogonally patterned film that can be used as an alignment layer for guiding rodlike liquid crystals (LCs) to generate both twisted and planar alignments simultaneously. Our resulting platform can provide a facile method to form multidirectional orientation of soft materials and biomaterials in a process of simple shearing and evaporation, which gives rise to potential patterning applications using LCLCs due to their unique structural characteristics

Expression Profile of Sorghum Genes and <i>Cis</i>-Regulatory Elements under Salt-Stress Conditions

Salinity stress is one of the most important abiotic stresses that causes great losses in crop production worldwide. Identifying the molecular mechanisms of salt resistance in sorghum will help develop salt-tolerant crops with high yields. Sorghum (Sorghum bicolor (L.) Moench) is one of the world’s four major grains and is known as a plant with excellent adaptability to salt stress. Among the various genotypes of sorghum, a Korean cultivar Nampungchal is also highly tolerant to salt. However, little is known about how Nampungchal responds to salt stress. In this study, we measured various physiological parameters, including Na+ and K+ contents, in leaves grown under saline conditions and investigated the expression patterns of differentially expressed genes (DEGs) using QuantSeq analysis. These DEG analyses revealed that genes up-regulated in a 150 mM NaCl treatment have various functions related to abiotic stresses, such as ERF and DREB. In addition, transcription factors such as ABA, WRKY, MYB, and bZip bind to the CREs region of sorghum and are involved in the regulation of various abiotic stress-responsive transcriptions, including salt stress. These findings may deepen our understanding of the mechanisms of salt tolerance in sorghum and other crops