Decentralized dynamic task allocation for UAVs with limited communication range

We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general approach to cast this dynamic problem as a sequence of decentralized task allocation problems. Then we present two solutions both based on modeling the allocation task as a Markov Random Field to subsequently assess decisions by means of the decentralized Max-Sum algorithm. Our first solution assumes independence between requests, whereas our second solution also considers the UAVs' workloads. A thorough empirical evaluation shows that our workload-based solution consistently outperforms current state-of-the-art methods in a wide range of scenarios, lowering the average service time up to 16%. In the best-case scenario there is no gap between our decentralized solution and centralized techniques. In the worst-case scenario we manage to reduce by 25% the gap between current decentralized and centralized techniques. Thus, our solution becomes the method of choice for our problem

Efficient Inter-Team Task Allocation in RoboCup Rescue

The coordination of cooperative agents involved in rescue missions is an important open research problem. We consider the RoboCup Rescue Simulation (RCS) challenge, where teams of agents perform urban rescue operations. Previous approaches typically cast such problem as separate single-team allocation problems. However, different teams have complementary capabilities, and therefore some kind of inter-team coordination is desirable for high-quality solutions. Our contribution considers inter-team coordination using Max-Sum. We present a methodology that allows teams in RCS to efficiently assess joint allocations. Furthermore, we show how to reduce the algorithm's computational complexity from exponential to polynomial time by using Tractable High Order Potentials. To the best of our knowledge this is the first time where it has been shown that MS can be run in polynomial time in the RCS challenge without relaxing the problem. Experiments with fire brigades and police agents show that teams employing inter-team coordination are significantly more effective than uncoordinated teams. Moreover, the evaluation shows that our BMS and THOPs method achieves up to 2.5 times better results than other state-of-the-art methods. Copyright © 2015, International Foundation for Autonomous Agents and Multiagent Systems.Work funded by projects DAMAS (TIN2013-45732-C4-4-P), COR (TIN2012-38876-C02-01), the Generalitat of Catalunya grant 2009-SGR-1434, and the Ministry of Economy and Competitivity grant BES-2010-030466.Peer reviewe

Binary max-sum for multi-team task allocation in RoboCup Rescue

Coordination of agents involved in rescue missions is an important open research problem. We focus on the RoboCup Rescue Simulation (RCS) challenge, where different teams of agents perform urban rescue operations. Previous approaches typically cast such coordination problem as separate single-team allocation problems, and solve them separately. Our first key contribution is to focus on the max-sum approach, which has been successfully applied in this setting. We show that it is possible to reduce the computational complexity associated to max- sum from exponential to polynomial time. Our empirical evaluation shows that, by using our approach, the fire brigades team obtains significantly better results when compared to state-of- the-art approaches. Our second key contribution is a methodology that allows teams in RCS to make joint allocations. Specifically, our approach supports a modular design, where teams are independently modeled and subsequently connected via well-defined coordination points. To the best of our knowledge, this is the first task-assignment approach in the literature that enables teams in RCS to make simultaneous joint allocations. Experiments with fire brigades and police agents show that teams employing inter-team coordination are significantly more effective than uncoordinated teams.Work funded by projects RECEDIT (TIN2009-13591-C02- 02), AT (CSD2007-0022), COR (TIN2012-38876-C02-01), MECER (201250E053), the Generalitat of Catalunya grant 2009-SGR-1434, and the Ministry of Economy and Competitivity grant BES-2010-030466Peer Reviewe

ABC4MAS : Assembling business collaborations for MAS

ABC4MAS provides an environment to support the rapid assembly of agent-oriented business collaborations. ABC4MAS allows: (i) to set up a collaboration environment (CE) as a virtual organisation; (ii) to reach agreements within the CE to form short-term business collaborations; (iii) to enact business collaborations; and (iv) to track the performance of agents within business collaborations to build their trust and reputation within the CE.Peer Reviewe

Study protocol of cost-effectiveness and cost-utility of a biopsychosocial multidisciplinary intervention in the evolution of non-specific sub-acute low back pain in the working population: cluster randomised trial.

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Background: Low back pain (LBP), with high incidence and prevalence rate, is one of the most common reasons to consult the health system and is responsible for a significant amount of sick leave, leading to high health and social costs. The objective of the study is to assess the cost-effectiveness and cost-utility analysis of a multidisciplinary biopsychosocial educational group intervention (MBEGI) of non-specific sub-acute LBP in comparison with the usual care in the working population recruited in primary healthcare centres. Methods/design: The study design is a cost-effectiveness and cost-utility analysis of a MBEGI in comparison with the usual care of non-specific sub-acute LBP.Measures on effectiveness and costs of both interventions will be obtained from a cluster randomised controlled clinical trial carried out in 38 Catalan primary health care centres, enrolling 932 patients between 18 and 65 years old with a diagnosis of non-specific sub-acute LBP. Effectiveness measures are: pharmaceutical treatments, work sick leave (% and duration in days), Roland Morris disability, McGill pain intensity, Fear Avoidance Beliefs (FAB) and Golberg Questionnaires. Utility measures will be calculated from the SF-12. The analysis will be performed from a social perspective. The temporal horizon is at 3 months (change to chronic LBP) and 12 months (evaluate the outcomes at long term. Assessment of outcomes will be blinded and will follow the intention-to-treat principle. Discussion: We hope to demonstrate the cost-effectiveness and cost-utility of MBEGI, see an improvement in the patients' quality of life, achieve a reduction in the duration of episodes and the chronicity of non-specific low back pain, and be able to report a decrease in the social costs. If the intervention is cost-effectiveness and cost-utility, it could be applied to Primary Health Care Centres. Trial registration: ISRCTN: ISRCTN5871969

The Caenorhabditis elegans HNF4α Homolog, NHR-31, Mediates Excretory Tube Growth and Function through Coordinate Regulation of the Vacuolar ATPase

Nuclear receptors of the Hepatocyte Nuclear Factor-4 (HNF4) subtype have been linked to a host of developmental and metabolic functions in animals ranging from worms to humans; however, the full spectrum of physiological activities carried out by this nuclear receptor subfamily is far from established. We have found that the Caenorhabditis elegans nuclear receptor NHR-31, a homolog of mammalian HNF4 receptors, is required for controlling the growth and function of the nematode excretory cell, a multi-branched tubular cell that acts as the C. elegans renal system. Larval specific RNAi knockdown of nhr-31 led to significant structural abnormalities along the length of the excretory cell canal, including numerous regions of uncontrolled growth at sites near to and distant from the cell nucleus. nhr-31 RNAi animals were sensitive to acute challenge with ionic stress, implying that the osmoregulatory function of the excretory cell was also compromised. Gene expression profiling revealed a surprisingly specific role for nhr-31 in the control of multiple genes that encode subunits of the vacuolar ATPase (vATPase). RNAi of these vATPase genes resulted in excretory cell defects similar to those observed in nhr-31 RNAi animals, demonstrating that the influence of nhr-31 on excretory cell growth is mediated, at least in part, through coordinate regulation of the vATPase. Sequence analysis revealed a stunning enrichment of HNF4α type binding sites in the promoters of both C. elegans and mouse vATPase genes, arguing that coordinate regulation of the vATPase by HNF4 receptors is likely to be conserved in mammals. Our study establishes a new pathway for regulation of excretory cell growth and reveals a novel role for HNF4-type nuclear receptors in the development and function of a renal system

Impact of COVID-19 on cardiovascular testing in the United States versus the rest of the world

Objectives: This study sought to quantify and compare the decline in volumes of cardiovascular procedures between the United States and non-US institutions during the early phase of the coronavirus disease-2019 (COVID-19) pandemic. Background: The COVID-19 pandemic has disrupted the care of many non-COVID-19 illnesses. Reductions in diagnostic cardiovascular testing around the world have led to concerns over the implications of reduced testing for cardiovascular disease (CVD) morbidity and mortality. Methods: Data were submitted to the INCAPS-COVID (International Atomic Energy Agency Non-Invasive Cardiology Protocols Study of COVID-19), a multinational registry comprising 909 institutions in 108 countries (including 155 facilities in 40 U.S. states), assessing the impact of the COVID-19 pandemic on volumes of diagnostic cardiovascular procedures. Data were obtained for April 2020 and compared with volumes of baseline procedures from March 2019. We compared laboratory characteristics, practices, and procedure volumes between U.S. and non-U.S. facilities and between U.S. geographic regions and identified factors associated with volume reduction in the United States. Results: Reductions in the volumes of procedures in the United States were similar to those in non-U.S. facilities (68% vs. 63%, respectively; p = 0.237), although U.S. facilities reported greater reductions in invasive coronary angiography (69% vs. 53%, respectively; p < 0.001). Significantly more U.S. facilities reported increased use of telehealth and patient screening measures than non-U.S. facilities, such as temperature checks, symptom screenings, and COVID-19 testing. Reductions in volumes of procedures differed between U.S. regions, with larger declines observed in the Northeast (76%) and Midwest (74%) than in the South (62%) and West (44%). Prevalence of COVID-19, staff redeployments, outpatient centers, and urban centers were associated with greater reductions in volume in U.S. facilities in a multivariable analysis. Conclusions: We observed marked reductions in U.S. cardiovascular testing in the early phase of the pandemic and significant variability between U.S. regions. The association between reductions of volumes and COVID-19 prevalence in the United States highlighted the need for proactive efforts to maintain access to cardiovascular testing in areas most affected by outbreaks of COVID-19 infection

Cardiopoietic cell therapy for advanced ischemic heart failure: results at 39 weeks of the prospective, randomized, double blind, sham-controlled CHART-1 clinical trial

Cardiopoietic cells, produced through cardiogenic conditioning of patients' mesenchymal stem cells, have shown preliminary efficacy. The Congestive Heart Failure Cardiopoietic Regenerative Therapy (CHART-1) trial aimed to validate cardiopoiesis-based biotherapy in a larger heart failure cohort