Lifelong Multi-Agent Path Finding in Large-Scale Warehouses

Multi-Agent Path Finding (MAPF) is the problem of moving a team of agents to their goal locations without collisions. In this paper, we study the lifelong variant of MAPF, where agents are constantly engaged with new goal locations, such as in large-scale automated warehouses. We propose a new framework Rolling-Horizon Collision Resolution (RHCR) for solving lifelong MAPF by decomposing the problem into a sequence of Windowed MAPF instances, where a Windowed MAPF solver resolves collisions among the paths of the agents only within a bounded time horizon and ignores collisions beyond it. RHCR is particularly well suited to generating pliable plans that adapt to continually arriving new goal locations. We empirically evaluate RHCR with a variety of MAPF solvers and show that it can produce high-quality solutions for up to 1,000 agents (= 38.9\% of the empty cells on the map) for simulated warehouse instances, significantly outperforming existing work.Comment: Published at AAAI 202

The Effects of False Heartbeat Feedback on Moral Judgment

Research on human morality is at a crossroads, with one side claiming that moral judgment is the result of rational inference and the other side claiming that it is the result of emotion-laden intuition. This study investigated whether emotion drives moral judgment by manipulating a core component of the experience of emotion: physiological arousal. The sample consisted of 77 undergraduate students at Brooklyn College (57% women, 43% men; mean age = 20.1). One group of participants was led to believe their heart was beating quickly, and another group slowly, while they read and evaluated a series of text vignettes depicting moral transgressions. Based on affect-as-information theory, I expected that perceiving elevated physiological arousal would intensify negative emotional reactions to the transgressions. If emotion drives moral judgment, this intensification would cause more severe moral condemnation. If emotion does not drive moral judgment, the intensification would have no effect on condemnation. I also tested several hypotheses related to individual differences: I expected perceiving elevated arousal to affect moral judgment more for participants who (a) are better at perceiving internal bodily signals, (b) are predisposed to react to internal bodily signals, and (c) have higher heart rate variability, which indicates greater functional integration of visceral afferent signals into the frontal cortex. Against expectations, participants in the slow heartbeat group gave more severe moral judgments than those in the fast group. This effect was neither mediated by an intensification of negative emotional reactions nor moderated by any individual differences. These findings do not straightforwardly support the claim that moral judgment depends on emotion, but they are evidence that it can be swayed by extraneous information

Concept, Simulation, and Instrumentation for Radiometric Inflight Icing Detection

The multi-agency Flight in Icing Remote Sensing Team (FIRST), a consortium of the National Aeronautics and Space Administration (NASA), the Federal Aviation Administration (FAA), the National Center for Atmospheric Research (NCAR), the National Oceanographic and Atmospheric Administration (NOAA), and the Army Corps of Engineers (USACE), has developed technologies for remotely detecting hazardous inflight icing conditions. The USACE Cold Regions Research and Engineering Laboratory (CRREL) assessed the potential of onboard passive microwave radiometers for remotely detecting icing conditions ahead of aircraft. The dual wavelength system differences the brightness temperature of Space and clouds, with greater differences potentially indicating closer and higher magnitude cloud liquid water content (LWC). The Air Force RADiative TRANsfer model (RADTRAN) was enhanced to assess the flight track sensing concept, and a 'flying' RADTRAN was developed to simulate a radiometer system flying through simulated clouds. Neural network techniques were developed to invert brightness temperatures and obtain integrated cloud liquid water. In addition, a dual wavelength Direct-Detection Polarimeter Radiometer (DDPR) system was built for detecting hazardous drizzle drops. This paper reviews technology development to date and addresses initial polarimeter performance

Automated Measurement of Spatially Resolved Hair-Hair Single Fiber Adhesion.

The adhesion force between individual human hair fibers in a crosshair geometry was measured by observing their natural bending and adhesive jumps out of contact, using optical video microscopy. The hair fibers' natural elastic responses, calibrated by measuring their natural resonant frequencies, were used to measure the forces. Using a custom-designed, automated apparatus to measure thousands of individual hair-hair contacts along millimeter length scales of hair, it was found that a broad, yet characteristic, spatially variant distribution in adhesion force is measured on the 1 to 1000 nN scale for both clean and conditioner-treated hair fibers. Comparison between the measured adhesion forces and adhesion forces modeled from the hairs' surface topography (measured using confocal laser profilometry) shows they have a good order-of-magnitude agreement and have similar breadth and shape. The agreement between the measurements and the model suggests, perhaps unsurprisingly, that hair-hair adhesion is governed, to a first approximation, by the unique surface structure of the hairs' cuticles and, therefore, the large distribution in local mean curvature at the various individual contact points along the hairs' lengths. We posit that haircare products could best control the surface properties (or at least the adhesive properties) between hairs by directly modifying the hair surface microstructure

Production of Acquired Immunodeficiency Syndrome-Associated Retrovirus in Human and Nonhuman Cells Transfected with an Infectious Molecular Clone

We constructed an infectious molecular clone of acquired immunodeficiency syndrome-associated retrovirus. Upon transfection, this clone directed the production of infectious virus particles in a wide variety of cells in addition to human T4 cells. The progeny, infectious virions, were synthesized in mouse, mink, monkey, and several human non-T cell lines, indicating the absence of any intracellular obstacle to viral RNA or protein production or assembly. During the course of these studies, a human colon carcinoma cell line, exquisitely sensitive to DNA transfection, was identified

Envelope-specific antibodies and antibody-derived molecules for treating and curing HIV infection

HIV-1 is a retrovirus that integrates into host chromatin and can remain transcriptionally quiescent in a pool of immune cells. This characteristic enables HIV-1 to evade both host immune responses and antiretroviral drugs, leading to persistent infection. Upon reactivation of proviral gene expression, HIV-1 envelope (HIV-1 Env) glycoproteins are expressed on the cell surface, transforming latently infected cells into targets for HIV-1 Env-specific monoclonal antibodies (mAbs), which can engage immune effector cells to kill productively infected CD4+ T cells and thus limit the spread of progeny virus. Recent innovations in antibody engineering have resulted in novel immunotherapeutics such as bispecific dual-affinity re-targeting (DART) molecules and other bi- and trispecific antibody designs that can recognize HIV-1 Env and recruit cytotoxic effector cells to kill CD4+ T cells latently infected with HIV‑1. Here, we review these immunotherapies, which are designed with the goal of curing HIV-1 infection

Light particle spectra from 35 MeV/nucleon 12C-induced reactions on 197Au

Energy spectra for p, d, t, 3He, 4He, and 6He from the reaction 12C+197Au at 35 MeV/nucleon are presented. A common intermediate rapidity source is identified using a moving source fit to the spectra that yields cross sections which are compared to analogous data at other bombarding energies and to several different models. The excitation function of the composite to proton ratios is compared with quantum statistical, hydrodynamic, and thermal models

Molecular Valves for Controlling Gas Phase Transport Made from Discrete Angstrom-Sized Pores in Graphene

An ability to precisely regulate the quantity and location of molecular flux is of value in applications such as nanoscale 3D printing, catalysis, and sensor design. Barrier materials containing pores with molecular dimensions have previously been used to manipulate molecular compositions in the gas phase, but have so far been unable to offer controlled gas transport through individual pores. Here, we show that gas flux through discrete angstrom-sized pores in monolayer graphene can be detected and then controlled using nanometer-sized gold clusters, which are formed on the surface of the graphene and can migrate and partially block a pore. In samples without gold clusters, we observe stochastic switching of the magnitude of the gas permeance, which we attribute to molecular rearrangements of the pore. Our molecular valves could be used, for example, to develop unique approaches to molecular synthesis that are based on the controllable switching of a molecular gas flux, reminiscent of ion channels in biological cell membranes and solid state nanopores.Comment: to appear in Nature Nanotechnolog