Performance of bandit methods in acoustic relay positioning

We consider the problem of maximizing underwater acoustic data transmission, by adaptively positioning a mobile relay. This is a classic exploration vs. exploitation scenario well-described by a multi-armed bandit formulation, which in its canonical form is optimally solved by the Gittins index rule. For an ocean vehicle traveling between distant waypoints, however, switching costs are significant, and the MAB with switching costs has no optimal index policy. To address this we have developed a strong adaptation of the Gittins index rule that employs limited-horizon enumeration. We describe autonomous shallow-water field experiments conducted in the Charles River (Boston, MA) with unmanned vehicles and acoustic modems, and compare the performance of different algorithms. Our switching-costs-aware MAB heuristic offers both superior real-time performance in decision-making and efficient learning of the unknown field.United States. Office of Naval Research (Grant N00014-09-1-0700)National Science Foundation (U.S.) (Contract CNS-1212597)Finmeccanic

Experiments in dynamic control of autonomous marine vehicles using acoustic modems

Marine robots are an increasingly attractive means for observing and monitoring in the ocean, but underwater acoustic communication (“acomms”) remains a major challenge, especially for real-time control. Packet loss occurs widely, bit rates are low, and there are significant delays. We consider here strategies for feedback control with acomms links in either the sensor-controller channel, or the controller-actuator channel. On the controller-actuator side we implement sparse packetized predictive control (S-PPC), which simultaneously addresses packet-loss and the data rate limit. For the sensor-controller channel we study a modified information filter (MIF) in a Linear Quadratic Gaussian (LQG) control scheme. Field experiments were carried out with both approaches, regulating crosstrack error in a robotic kayak using acomms. Outcomes with both the S-PPC and MIF LQG confirm that good performance is achievable.United States. Office of Naval Research (Grant N00014-09-1-0700)National Science Foundation (U.S.) (Contract CNS-1212597)Finmeccanic

Modeling and Inspection Applications of a Coastal Distributed Autonomous Sensor Network

Real time in-situ measurements are essential for monitoring and understanding physical and biochemical changes within ocean environments. Phenomena of interest usually display spatial and temporal dynamics that span different scales. As a result, a combination of different vehicles, sensors, and advanced control algorithms are required in oceanographic monitoring systems. In this study our group presents the design of a distributed heterogeneous autonomous sensor network that combines underwater, surface, and aerial robotic vehicles along with advanced sensor payloads, planning algorithms and learning principles to successfully operate across the scales and constraints found in coastal environments. Examples where the robotic sensor network is used to localize algal blooms and collect modeling data in the coastal regions of the island nation of Singapore and to construct 3D models of marine structures for inspection and harbor navigation are presented. The system was successfully tested in seawater environments around Singapore where the water current is around 1-2m/s. Topics: Inspection , Modeling , Sensor networks , ShorelinesSingapore. National Research Foundation (Singapore-MIT Alliance for Research and Technology (SMART)

A Szemeredi-Trotter type theorem in R4\mathbb{R}^4

We show that $m$ points and $n$ two-dimensional algebraic surfaces in $\mathbb{R}^4$ can have at most $O(m^{\frac{k}{2k-1}}n^{\frac{2k-2}{2k-1}}+m+n)$ incidences, provided that the algebraic surfaces behave like pseudoflats with $k$ degrees of freedom, and that $m\leq n^{\frac{2k+2}{3k}}$. As a special case, we obtain a Szemer\'edi-Trotter type theorem for 2--planes in $\mathbb{R}^4$, provided $m\leq n$ and the planes intersect transversely. As a further special case, we obtain a Szemer\'edi-Trotter type theorem for complex lines in $\mathbb{C}^2$ with no restrictions on $m$ and $n$ (this theorem was originally proved by T\'oth using a different method). As a third special case, we obtain a Szemer\'edi-Trotter type theorem for complex unit circles in $\mathbb{C}^2$. We obtain our results by combining several tools, including a two-level analogue of the discrete polynomial partitioning theorem and the crossing lemma.Comment: 50 pages. V3: final version. To appear in Discrete and Computational Geometr

Discovery of species-wide tool use in the Hawaiian crow

Funding from the Biotechnology and Biological Sciences Research Council, UK (BBSRC; grant BB/G023913/2 to C.R., and studentship to B.C.K.), the University of St Andrews (C.R.), JASSO (S.S.), and the Royal Society of London (M.B.M.). Funding for thecaptive ‘Alala propagation programme was provided by the U.S. Fish and Wildlife Service, Hawai‘i Division of Forestry and Wildlife, Moore Family Foundation, Marisla Foundation, several anonymous donors, and San Diego Zoo Global.Only a handful of bird species are known to use foraging tools in the wild1. Amongst them, the New Caledonian crow (Corvus moneduloides) stands out with its sophisticated tool-making skills2, 3. Despite considerable speculation, the evolutionary origins of this species’ remarkable tool behaviour remain largely unknown, not least because no naturally tool-using congeners have yet been identified that would enable informative comparisons4. Here we show that another tropical corvid, the ‘Alalā (C. hawaiiensis; Hawaiian crow), is a highly dexterous tool user. Although the ‘Alalā became extinct in the wild in the early 2000s, and currently survives only in captivity5, at least two lines of evidence suggest that tool use is part of the species’ natural behavioural repertoire: juveniles develop functional tool use without training, or social input from adults; and proficient tool use is a species-wide capacity. ‘Alalā and New Caledonian crows evolved in similar environments on remote tropical islands, yet are only distantly related6, suggesting that their technical abilities arose convergently. This supports the idea that avian foraging tool use is facilitated by ecological conditions typical of islands, such as reduced competition for embedded prey and low predation risk4, 7. Our discovery creates exciting opportunities for comparative research on multiple tool-using and non-tool-using corvid species. Such work will in turn pave the way for replicated cross-taxonomic comparisons with the primate lineage, enabling valuable insights into the evolutionary origins of tool-using behaviour.PostprintPeer reviewe

Integrated Genomic Analysis of the Ubiquitin Pathway across Cancer Types

Protein ubiquitination is a dynamic and reversibleprocess of adding single ubiquitin molecules orvarious ubiquitin chains to target proteins. Here,using multidimensional omic data of 9,125 tumorsamples across 33 cancer types from The CancerGenome Atlas, we perform comprehensive molecu-lar characterization of 929 ubiquitin-related genesand 95 deubiquitinase genes. Among them, we sys-tematically identify top somatic driver candidates,including mutatedFBXW7with cancer-type-specificpatterns and amplifiedMDM2showing a mutuallyexclusive pattern withBRAFmutations. Ubiquitinpathway genes tend to be upregulated in cancermediated by diverse mechanisms. By integratingpan-cancer multiomic data, we identify a group oftumor samples that exhibit worse prognosis. Thesesamples are consistently associated with the upre-gulation of cell-cycle and DNA repair pathways, char-acterized by mutatedTP53,MYC/TERTamplifica-tion, andAPC/PTENdeletion. Our analysishighlights the importance of the ubiquitin pathwayin cancer development and lays a foundation fordeveloping relevant therapeutic strategies

Omecamtiv mecarbil in chronic heart failure with reduced ejection fraction, GALACTIC‐HF: baseline characteristics and comparison with contemporary clinical trials

Aims: The safety and efficacy of the novel selective cardiac myosin activator, omecamtiv mecarbil, in patients with heart failure with reduced ejection fraction (HFrEF) is tested in the Global Approach to Lowering Adverse Cardiac outcomes Through Improving Contractility in Heart Failure (GALACTIC‐HF) trial. Here we describe the baseline characteristics of participants in GALACTIC‐HF and how these compare with other contemporary trials. Methods and Results: Adults with established HFrEF, New York Heart Association functional class (NYHA) ≥ II, EF ≤35%, elevated natriuretic peptides and either current hospitalization for HF or history of hospitalization/ emergency department visit for HF within a year were randomized to either placebo or omecamtiv mecarbil (pharmacokinetic‐guided dosing: 25, 37.5 or 50 mg bid). 8256 patients [male (79%), non‐white (22%), mean age 65 years] were enrolled with a mean EF 27%, ischemic etiology in 54%, NYHA II 53% and III/IV 47%, and median NT‐proBNP 1971 pg/mL. HF therapies at baseline were among the most effectively employed in contemporary HF trials. GALACTIC‐HF randomized patients representative of recent HF registries and trials with substantial numbers of patients also having characteristics understudied in previous trials including more from North America (n = 1386), enrolled as inpatients (n = 2084), systolic blood pressure < 100 mmHg (n = 1127), estimated glomerular filtration rate < 30 mL/min/1.73 m2 (n = 528), and treated with sacubitril‐valsartan at baseline (n = 1594). Conclusions: GALACTIC‐HF enrolled a well‐treated, high‐risk population from both inpatient and outpatient settings, which will provide a definitive evaluation of the efficacy and safety of this novel therapy, as well as informing its potential future implementation

System design of a UAV for marine environmental sensing

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from PDF version of thesis.Includes bibliographical references (p. 68-70).Technological improvements over the past decade have led to the widespread use of autonomous surface and underwater vehicles for data collection in marine environmental sensing and modeling in coastal environments. However, these vehicles and their sensors still have limitations, especially when tasked with observing highly dynamic or transient processes. We investigate the application of a small unmanned aerial vehicle (UAV) to the study of two such phenomena: Harmful Algal Blooms (HABs) and thermal plumes. A complete field-operable system was developed to identify and characterize HAB events through a human-monitored supervisory control system. This capability was extended with an infrared imaging camera for remote sensing of thermal plumes, enabling future work to augment the in-situ measurements of surface craft with thermal imagery from a UAV. Experiments in Singapore have led to the successful identification and subsequent study of algal blooms on multiple occasions and demonstrated the potential for observation and modeling of thermal plumes.by Joshua Leighton.S.M

Henry Rosenberg & Family

Report prepared as part of the coursework required for REL 167, Speaking Stones.Description and interpretation of the monument to Henry Rosenberg (1824-1884) and his wife, Erederica (Rica) Rosenberg (1836-1865) and two children who died in infancy

Defining the Status of RNA Polymerase at Promoters

SummaryRecent genome-wide studies in metazoans have shown that RNA polymerase II (Pol II) accumulates to high densities on many promoters at a rate-limited step in transcription. However, the status of this Pol II remains an area of debate. Here, we compare quantitative outputs of a global run-on sequencing assay and chromatin immunoprecipitation sequencing assays and demonstrate that the majority of the Pol II on Drosophila promoters is transcriptionally engaged; very little exists in a preinitiation or arrested complex. These promoter-proximal polymerases are inhibited from further elongation by detergent-sensitive factors, and knockdown of negative elongation factor, NELF, reduces their levels. These results not only solidify the notion that pausing occurs at most promoters, but demonstrate that it is the major rate-limiting step in early transcription at these promoters. Finally, the divergent elongation complexes seen at mammalian promoters are far less prevalent in Drosophila, and this specificity in orientation correlates with directional core promoter elements, which are abundant in Drosophila