Learning Augmented, Multi-Robot Long-Horizon Navigation in Partially Mapped Environments

We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of unknown space. Building on recent work in learning-augmented model based planning under uncertainty, we introduce a high-level state and action abstraction that lets us approximate the challenging Dec-POMDP into a tractable stochastic MDP. Our Multi-Robot Learning over Subgoals Planner (MR-LSP) guides agents towards coordinated exploration of regions more likely to reach the unseen goal. We demonstrate improvement in cost against other multi-robot strategies; in simulated office-like environments, we show that our approach saves 13.29% (2 robot) and 4.6% (3 robot) average cost versus standard non-learned optimistic planning and a learning-informed baseline.Comment: 7 pages, 7 figures, ICRA202

Nitrogen availability and economic returns of various crop rotations with forage and annual crops

Non-Peer Reviewe

Nitrogen availability and economic returns of various crop rotations with forage and annual crops

Non-Peer Reviewe

Using online learning modules to fight against antibiotic resistance in Australia

© 2013 Jorge Reyna, Santosh Khanal and Tessa Morgan. NPS MedicineWise and the Australian Commission on Safety and Quality in Health Care (ACSQHC) have launched a series of online learning modules designed to help combat antibiotic resistance in hospitals. The aim of the modules is to fill a previously unmet need for an online teaching resource on a common curriculum for hospitals and universities. The modules address specific areas where antibiotic use in hospitals needs improvement. Problem Based Learning has been used as pedagogical approach for the modules. Clinical scenarios are presented with a logical progression of tasks including clinical assessment and diagnosis, investigations, interpretation of results, and antibiotic selection. Expert advice and feedback has been incorporated at each step, helping to improve learning outcomes. Learners can access the modules at their own pace and revisit them upon completion. We report, for the first time, participants’ perceptions of the antimicrobial modules as learning resource, usability issues, and possible areas of improvement

The dissimilar chemical composition of the planet-hosting stars of the XO-2 binary system

Using high-quality spectra of the twin stars in the XO-2 binary system, we have detected significant differences in the chemical composition of their photospheres. The differences correlate strongly with the elements' dust condensation temperature. In XO-2N, volatiles are enhanced by about 0.015 dex and refractories are overabundant by up to 0.090 dex. On average, our error bar in relative abundance is 0.012 dex. We present an early metal-depletion scenario in which the formation of the gas giant planets known to exist around these stars is responsible for a 0.015 dex offset in the abundances of all elements while 20 M_Earth of non-detected rocky objects that formed around XO-2S explain the additional refractory-element difference. An alternative explanation involves the late accretion of at least 20 M_Earth of planet-like material by XO-2N, allegedly as a result of the migration of the hot Jupiter detected around that star. Dust cleansing by a nearby hot star as well as age or Galactic birthplace effects can be ruled out as valid explanations for this phenomenon.Comment: ApJ, in press. Complete linelist (Table 3) available in the "Other formats -> Source" downloa

1st International Conference on Bioresource Technology for Bioenergy, Bioproducts & Environmental Sustainability (BIORESTEC)

With growing global interest in bioenergy, biobased product and environmental sustainability, the first International Conference on Bioresource Technology for Bioenergy, Bioproducts & Environmental Sustainability (BIORESTEC) was organized from October 2326, 2016 in Sitges, Barcelona in Spain. The conference was organized in association with Elseviers premier journal Bioresource Technology (BITE), with an aim to provide a shared forum for researchers, academicians, industries, and policymakers, to discuss the current state-of-the-art and the emerging trends in biotechnology, bioenergy, and biobased products. The 1st BIORESTEC conference received tremendous response from all over the globe with 754 abstracts submitted. The scientific committee consisted of 13 eminent scientists from 11 countries. The committee then screened and selected 54 abstracts for oral and 166 abtsracts for poster presentations. Besides, there were 19 invited speakers from 14 countries. Apart from the scientific presentations, a workshop on How to write a scientific paper and get published was also organized for early career researchers by Elsevier. This special issue of the journal contain 29 papers (all presented at the BIORESTEC conference) after peer-review process. These papers broadly cover areas such as biomass pretreatment, algal and lignocellulose biorefinery, biological waste treatment, white biotechnology and biomass policies, LCA and techno-economics and classified as below.info:eu-repo/semantics/publishedVersio

Evidence for a Far-Traveled Thrust Sheet in the Greater Himalayan Thrust System, and an Alternative Model to Building the Himalaya

The Galchhi shear zone underlies the Kathmandu klippe in central Nepal and has emerged as a key structure for discriminating competing models for the formation of the Himalayan orogenic wedge. New chronologic data from the Galchhi area suggest a new structural and orogenic interpretation. Zircons from quartzites and an orthogneiss restrict protolith deposition to between 467+7/ – 10 Ma and ~570 Ma, with metamorphic zircon growth at 23-29 Ma. Comparable data from the Greater Himalayan Sequence (GHS) at the intra-GHS Langtang thrust, north of Galchhi, similarly restrict GHS deposition to between 475+7/ – 3 and ~660 Ma. Undeformed pegmatites near Galchhi constrain movement of the Galchhi shear zone to ≥22.5 ± 2.3 Ma, long before slip of the Main Central Thrust in the region (≤17 Ma). Shear sense indicators in the Galchhi area indicate both top-to-the-south and top-to-the-north shears. The old age of movement, Neoproterozoic youngest detrital zircons, occurrence of top-to-the-south shear sense indicators, and intrusive Paleozoic granites, all suggest that the Galchhi shear zone is an intra-GHS top-to-the-south thrust, rather than either a thrust involving Lesser Himalayan rocks, or a top-to-the-north shear zone that juxtaposed Tethyan and GHS rocks during coeval movement of the Main Central Thrust. The GHS in Nepal was not emplaced as a single body of rock but consists of at least two ductile “thrust sheets,” present in both the hinterland at Langtang and toward the foreland at Galchhi. GHS thrust sheets sequentially underplated during southward propagation of the thrust belt

Surface moisture increases microcracking and water vapour permeance of apple fruit skin

Surface moisture induces microcracking in the cuticle of fruit skins. Our objective was to study the effects of surface moisture on cuticular microcracking, the permeance to water vapour and russeting in developing ‘Pinova’ apple fruit. Surface moisture was applied by fixing to the fruit a plastic tube containing deionized water. Microcracking was quantified by fluorescence microscopy and image analysis following infiltration with acridine orange. Water vapour permeance was determined gravimetrically using skin segments (ES) mounted in diffusion cells. Cumulative water loss through the ES increased linearly with time. Throughout development, surface moisture significantly increased skin permeance. The effect was largest during early development and decreased towards maturity. Recovery time courses revealed that following moisture treatment of young fruit for 12 days, skin permeance continued to increase until about 14 days after terminating the moisture treatment. Thereafter, skin permeance decreased over the next 28 days, then approaching the control level. This behaviour indicates gradual healing of the impaired cuticular barrier. Nevertheless, permeance still remained significantly higher compared with the untreated control. Similar patterns of permeance change were observed following moisture treatments at later stages of development. The early moisture treatment beginning at 23 DAFB resulted in russeting of the exposed surfaces. There was no russet in control fruit without a tube or in control fruit with a tube mounted for 12 days without water. The data demonstrate that surface moisture increases microcracking and water vapour permeance. This may lead to the formation of a periderm and, hence, a russeted fruit surface

Under-utilization of antenatal care services in Timor-Leste: Results from Demographic and Health Survey 2009-2010

Background: Timor-Leste is a young country in the Asia-Pacific region with a high maternal mortality rate of 557 per 100,000 live births. As most maternal deaths can be prevented by providing quality antenatal care (ANC) and skilled assistance during childbirth, understanding the barriers to the utilization of ANC services can enhance program implementation. This study aimed to investigate the prevalence and factors associated with the under-utilization of ANC services in Timor-Leste. Methods: Timor-Leste Demographic and Health Survey (TDHS) 2009-2010 was a nationally representative multi-stage cross-sectional study involving 11,463 households and 9,828 childbirths. Information on last born child was recorded for 5,895 mother-child pairs. Factors influencing under-utilization of ANC were assessed using hierarchical logistic regression analysis. Results: Only 3311 (55.2, 95 % confidence interval (CI) 53.1 to 57.3 %) made the recommended four ANC visits, while 2584 (44.8; 95 % CI 42.7 to 46.9 %) of them reported attending three or less ANC services. Significant factors positively associated with the under-utilization of ANC were low wealth status (odds ratio (OR) 2.09; 95 % CI 1.68 to 2.60), no maternal education (OR 1.54; 95 % CI 1.30 to 1.82) or primary maternal education (OR 1.21; 95 % CI 1.04 to 1.41), no paternal education (OR 1.34; 95 % CI 1.13 to 1.60), and having a big problem in permission to visit health facility (OR 1.65; 95 % CI 1.39 to 1.96). Conclusions: Despite the apparently good progress made in re-establishing the healthcare infrastructure, 45 % of mothers remained in need of a focused intervention to increase their use of ANC services. Further prenatal care program should pay attention to women with low wealth status and those and their partners who are uneducated. Moreover, women should be encouraged to make decision on their own health

Wake-Tailplane Interaction of a Slingsby Firefly Aircraft

This paper presents in-flight measurements of the interaction of the wing wake of a stalled Slingsby T67 Firefly light aircraft with the aircraft tailplane. Tailplane data was recorded by a GoPro360 camera and analyzed using spatial correlation methods. The tailplane movement and corresponding spectra indicate that the aerodynamic wake shedding frequency closely matches the resonant frequency of the tailplane, resulting in a significant excitation of the structure during heavy stall. Large magnitude, lower frequency tailplane movement was also identified by analysis of the pitch attitude from the image data, with results consistent in post-stall behavior reported by previous modelling and measurements