Real-time motion planning with a fixed-wing UAV using an agile maneuver space

Small fixed-wing unmanned aerial vehicles (UAVs) are becoming increasingly capable of flying at low altitudes and in constrained environments. This paper addresses the problem of automating the flight of a fixed-wing UAV through highly constrained environments. The main contribution of this paper is the development of a maneuver space, integrating steady and transient agile maneuvers for a class of fixed-wing aircraft. The maneuver space is integrated into the rapidly-exploring random trees (RRT) algorithm. The RRT-based motion planner, together with a flight control system, is demonstrated in simulations and flight tests to efficiently generate and execute a motion plan through highly constrained 3D environments in real-time. The flight experiments—which effectively demonstrated the usage of three highly agile maneuvers—were conducted using only on-board sensing and computing

Structures and waves in a nonlinear heat-conducting medium

The paper is an overview of the main contributions of a Bulgarian team of researchers to the problem of finding the possible structures and waves in the open nonlinear heat conducting medium, described by a reaction-diffusion equation. Being posed and actively worked out by the Russian school of A. A. Samarskii and S.P. Kurdyumov since the seventies of the last century, this problem still contains open and challenging questions.Comment: 23 pages, 13 figures, the final publication will appear in Springer Proceedings in Mathematics and Statistics, Numerical Methods for PDEs: Theory, Algorithms and their Application

Harnessing Historical Corrections to build Test Collections for Named Entity Disambiguation

Matching mentions of persons to the actual persons (the name disambiguation problem) is central for several digital library applications. Scientists have been working on algorithms to create this matching for decades without finding a universal solution. One problem is that test collections for this problem are often small and specific to a certain collection. In this work, we present an approach that can create large test collections from historical metadata with minimal extra cost. We apply this approach to the DBLP collection to generate two freely available test collections. One collection focuses on the properties of defects and one on the evaluation of disambiguation algorithms.Comment: Preprint of a paper accepted at TPDL 201

Contaminations contaminate common databases

The polymerase chain reaction (PCR) is a very powerful method to detect and identify pathogens. The high sensitivity of the method, however, comes with a cost; any of the millions of artificial DNA copies generated by PCR can serve as a template in a following experiment. If not identified as contaminations, these may result in erroneous conclusions on the occurrence of the pathogen, thereby inflating estimates of host range and geographic distribution. In the present paper, we evaluate whether several published records of avian haemosporidian parasites, in either unusual host species or geographical regions, might stem from PCR contaminations rather than novel biological findings. The detailed descriptions of these cases are shedding light upon the steps in the work process that might lead to PCR contaminations. By increasing the awareness of this problem, it will aid in developing procedures that keep these to a minimum. The examples in the present paper are from haemosporidians of birds, however the problem of contaminations and suggested actions should apply generally to all kinds of PCR‐based identifications, not just of parasites and pathogens

Virtual screening for inhibitors of the human TSLP:TSLPR interaction

The pro-inflammatory cytokine thymic stromal lymphopoietin (TSLP) plays a pivotal role in the pathophysiology of various allergy disorders that are mediated by type 2 helper T cell (Th2) responses, such as asthma and atopic dermatitis. TSLP forms a ternary complex with the TSLP receptor (TSLPR) and the interleukin-7-receptor subunit alpha (IL-7Ra), thereby activating a signaling cascade that culminates in the release of pro-inflammatory mediators. In this study, we conducted an in silico characterization of the TSLP: TSLPR complex to investigate the drugability of this complex. Two commercially available fragment libraries were screened computationally for possible inhibitors and a selection of fragments was subsequently tested in vitro. The screening setup consisted of two orthogonal assays measuring TSLP binding to TSLPR: a BLI-based assay and a biochemical assay based on a TSLP: alkaline phosphatase fusion protein. Four fragments pertaining to diverse chemical classes were identified to reduce TSLP: TSLPR complex formation to less than 75% in millimolar concentrations. We have used unbiased molecular dynamics simulations to develop a Markov state model that characterized the binding pathway of the most interesting compound. This work provides a proof-ofprinciple for use of fragments in the inhibition of TSLP: TSLPR complexation

Mobility promotes and jeopardizes biodiversity in rock-paper-scissors games

Biodiversity is essential to the viability of ecological systems. Species diversity in ecosystems is promoted by cyclic, non-hierarchical interactions among competing populations. Such non-transitive relations lead to an evolution with central features represented by the `rock-paper-scissors' game, where rock crushes scissors, scissors cut paper, and paper wraps rock. In combination with spatial dispersal of static populations, this type of competition results in the stable coexistence of all species and the long-term maintenance of biodiversity. However, population mobility is a central feature of real ecosystems: animals migrate, bacteria run and tumble. Here, we observe a critical influence of mobility on species diversity. When mobility exceeds a certain value, biodiversity is jeopardized and lost. In contrast, below this critical threshold all subpopulations coexist and an entanglement of travelling spiral waves forms in the course of temporal evolution. We establish that this phenomenon is robust, it does not depend on the details of cyclic competition or spatial environment. These findings have important implications for maintenance and evolution of ecological systems and are relevant for the formation and propagation of patterns in excitable media, such as chemical kinetics or epidemic outbreaks.Comment: Final submitted version; the printed version can be found at http://dx.doi.org/10.1038/nature06095 Supplementary movies are available at http://www.theorie.physik.uni-muenchen.de/lsfrey/images_content/movie1.AVI and http://www.theorie.physik.uni-muenchen.de/lsfrey/images_content/movie2.AV