Supervisory control theory applied to swarm robotics

Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system’s control code is typically generated manually. Also, there is cultural resistance to apply formal methods; they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics

Supervisory control theory applied to swarm robotics

Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system?s control code is typically generated manually. Also, there is cultural resistance to apply formal methods; they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics

NILC-Metrix : assessing the complexity of written and spoken language in Brazilian Portuguese

This paper presents and makes publicly available the NILC-Metrix, a computational system comprising 200 metrics proposed in studies on discourse, psycholinguistics, cognitive and computational linguistics, to assess textual complexity in Brazilian Portuguese (BP). These metrics are relevant for descriptive analysis and the creation of computational models and can be used to extract information from various linguistic levels of written and spoken language. The metrics in NILC-Metrix were developed during the last 13 years, starting in 2008 with Coh-Metrix-Port, a tool developed within the scope of the PorSimples project. Coh-Metrix-Port adapted some metrics to BP from the Coh-Metrix tool that computes metrics related to cohesion and coherence of texts in English. After the end of PorSimples in 2010, new metrics were added to the initial 48 metrics of Coh-Metrix-Port. Given the large number of metrics, we present them following an organisation similar to the metrics of Coh-Metrix v3.0 to facilitate comparisons made with metrics in Portuguese and English. In this paper, we illustrate the potential of NILC-Metrix by presenting three applications: (i) a descriptive analysis of the differences between children's film subtitles and texts written for Elementary School I and II (Final Years); (ii) a new predictor of textual complexity for the corpus of original and simplified texts of the PorSimples project; (iii) a complexity prediction model for school grades, using transcripts of children's story narratives told by teenagers. For each application, we evaluate which groups of metrics are more discriminative, showing their contribution for each task

Comparing ‘apples with apples’: professional accounting practices in university classroom discourse

How are professional accounting practices represented in university classroom discourse and what are the implications of this for theory and practice in professional learning? Professional accounting practices order the world, and are also ordered. In reducing the complexities of social activity to abstract meanings that render it measurable, diverse and complex structures can be compared ‘apples with apples’. This study investigates the relocalization of professional accounting practices in university classroom discourse, working with tools from Legitimation Code Theory, systemic functional linguistics and critical discourse analysis. Findings draw on digital recordings of seminars presented by three lecturers in different subjects of a Master of Accounting program in an Australian metropolitan university. The analysis examines movements between context-independent and more context-dependent meanings in classroom discourse that mark shifts in emphasis from accounting as a system of representation, to accounting as interpersonal exchange. It considers two sets of social relations at play in the professional classroom: those between lecturers and students, and those within professional practice that are relocalized in classroom discourse. The framework developed in this study complements current research within the sociology of education. Discussion connects the analysis with recent explorations of knowledge practices in education within Legitimation Code Theory. It draws on foundational principles of a systemic functional model of language, considering the basis of professional practice and professional learning in interpersonal exchange. Conclusions are oriented towards theory and practice in professional learning, recognizing professional educators as agents of change and mediators of ways of thinking and acting in their field that are potentially transformative

IL-12 RB1 Genetic Variants Contribute to Human Susceptibility to Severe Acute Respiratory Syndrome Infection among Chinese

BACKGROUND: Cytokines play important roles in antiviral action. We examined whether polymorphisms of interleukin (IL)-12 receptor B1 (IL-12RB1) affect the susceptibility to and outcome of severe acute respiratory syndrome (SARS). METHODS: A case-control study was carried out in Chinese SARS patients and healthy controls. The genotypes of 4SNPs on IL-12 RB1 gene, +705A/G,+1158T/C, +1196G/C and +1664 C/T, were determined by PCR-RFLP. Haplotypes were estimated from the genotype data using the expectation-maximisation algorithm. RESULTS: Comparison between patients and close contacts showed that individuals with the +1664 C/T (CT and TT) genotype had a 2.09-fold (95% confidence interval [CI], 1.90-7.16) and 2.34-fold (95% CI, 1.79-13.37) increased risk of developing SARS, respectively. For any of the other three polymorphisms, however, no significant difference can be detected in allele or genotype frequencies between patients and controls. Additionally, estimation of the frequencies of multiple-locus haplotypes revealed potential risk haplotypes (GCCT) for SARS infection. CONCLUSIONS: Our data indicate that genetic variants of IL12RB1confer genetic susceptibility to SARS infection, but not necessary associated with the progression of the disease in Chinese population

Stanniocalcin 1 effects on the renal gluconeogenesis pathway in rat and fish

The mammalian kidney contributes significantly to glucose homeostasis through gluconeogenesis. Considering that stanniocalcin 1 (STC1) regulates ATP production, is synthesized and acts in different cell types of the nephron, the present study hypothesized that STC1 may be implicated in the regulation of gluconeogenesis in the vertebrate kidney. Human STC1 strongly reduced gluconeogenesis from C-14-glutamine in rat renal medulla (MD) slices but not in renal cortex (CX), nor from C-14-lactic acid. Total PEPCK activity was markedly reduced by hSTC1 in MD but not in CX. Pck2 (mitochondrial PEPCK isoform) was down-regulated by hSTC1 in MD but not in CX. In fish (Dicentrarchus labrax) kidney slices, both STC1-A and -B isoforms decreased gluconeogenesis from C-14-acid lactic, while STC1-A increased gluconeogenesis from C-14-glutamine. Overall, our results demonstrate a role for STC1 in the control of glucose synthesis via renal gluconeogenesis in mammals and suggest that it may have a similar role in teleost fishes. (C) 2015 Elsevier Ireland Ltd. All rights reserved.Conselho Nacional de Desenvolvimento Cientifico e Tecnologico (CNPq) Brazil; Foundation for Science and Technology of Portugal [PTDC/MAR/121279/2010]; bilateral programme CAPES (Brazil)/GRICES (Portugal) CAPES/GRICES [215/08]info:eu-repo/semantics/publishedVersio