Wall following to escape local minima for swarms of agents using internal states and emergent behaviour

Natural examples of emergent behaviour, in groups due to interactions among the group's individuals, are numerous. Our aim, in this paper, is to use complex emergent behaviour among agents that interact via pair-wise attractive and repulsive potentials, to solve the local minima problem in the artificial potential based navigation method. We present a modified potential field based path planning algorithm, which uses agent internal states and swarm emergent behaviour to enhance group performance. The algorithm is used successfully to solve a reactive path-planning problem that cannot be solved using conventional static potential fields due to local minima formation. Simulation results demonstrate the ability of a swarm of agents to perform problem solving using the dynamic internal states of the agents along with emergent behaviour of the entire group

Non-linear stability of vortex formation in swarms of interacting particles

We use a particle-based model of a swarm of interacting particles to explore analytically the conditions for the formation of vortexlike behavior. Our model uses pairwise interaction potentials to model weak long-range attraction and strong short-range repulsion with a dissipation function to align particle velocity vectors. We use the effective energy of the swarm as a Lyapunov function to prove convergence to a vortexlike state. Our analysis extends previous work which has relied purely on simulation to explore the formation and stability of vortexlike behavior through analytical rather than numerical methods

An emergent wall following behaviour to escape local minima for swarms of agents

Natural examples of emergent behaviour, in groups due to interactions among the group's individuals, are numerous. Our aim, in this paper, is to use complex emergent behaviour among agents that interact via pair-wise attractive and repulsive potentials, to solve the local minima problem in the artificial potential based navigation method. We present a modified potential field based path planning algorithm, which uses agent internal states and swarm emergent behaviour to enhance group performance. The algorithm is used successfully to solve a reactive path-planning problem that cannot be solved using conventional static potential fields due to local minima formation. Simulation results demonstrate the ability of a swarm of agents to perform problem solving using the dynamic internal states of the agents along with emergent behaviour of the entire group

Internal agent states : experiments using the swarm leader concept

In recent years, an understanding of the operating principles and stability of natural swarms has proven to be a useful tool for the design and control of artificial robotic agents. Many robotic systems, whose design or control principals are inspired by behavioural aspects of real biological systems such as leader-follower relationship, have been developed. We introduced an algorithm which successfully enhances the navigation performance of a swarm of robots using the swarm leader concept. This paper presents some applications based on that work using the simulations and experimental implementation using a swarming behaviour test-bed at the University of Strathclyde. Experimental and simulation results match closely in a way that confirms the efficiency of the algorithm as well as its applicability

Mental health and well-being of older adults living with HIV in sub-Saharan Africa: a systematic review

Objective: In this systematic review, we aimed to summarise the empirical evidence on common mental disorders (CMDs), cognitive impairment, frailty and health-related quality of life (HRQoL) among people living with HIV aged ≥50 years (PLWH50 +) residing in sub-Saharan Africa (SSA). Specifically, we document the prevalence and correlates of these outcomes. Design, data sources and eligibility criteria: The following online databases were systematically searched: PubMed, CINAHL, PsycINFO, Embase and Scopus up to January 2021. English-language publications on depression, anxiety, cognitive function, frailty and quality of life among PLWH50+ residing in SSA were included. Data extraction and synthesis: We extracted information, including study characteristics and main findings. These were tabulated, and a narrative synthesis approach was adopted, given the substantial heterogeneity among included studies. Results: A total of 50 studies from fifteen SSA countries met the inclusion criteria. About two-thirds of these studies emanated from Ethiopia, Uganda and South Africa. Studies regarding depression predominated (n=26), followed by cognitive impairment (n=13). Overall, PLWH50+ exhibited varying prevalence of depression (6%–59%), cognitive impairments (4%–61%) and frailty (3%–15%). The correlates of CMDs, cognitive impairment, frailty and HRQoL were rarely investigated, but those reported were sociodemographic variables, many of which were inconsistent. Conclusions: This review documented an increasing number of published studies on HIV and ageing from SSA. However, the current evidence on the mental and well-being outcomes in PLWH50+ is inadequate to characterise the public health dimension of these impairments in SSA, because of heterogeneous findings, few well-designed studies and substantial methodological limitations in many of the available studies. Future work should have sufficiently large samples of PLWH50+, engage appropriate comparison groups, harmonise the measurement of these outcomes using a standardised methodology to generate more robust prevalence estimates and confirm predictors

Sorting by reversals, block interchanges, tandem duplications, and deletions

<p>Abstract</p> <p>Background</p> <p>Finding sequences of evolutionary operations that transform one genome into another is a classic problem in comparative genomics. While most of the genome rearrangement algorithms assume that there is exactly one copy of each gene in both genomes, this does not reflect the biological reality very well – most of the studied genomes contain duplicated gene content, which has to be removed before applying those algorithms. However, dealing with unequal gene content is a very challenging task, and only few algorithms allow operations like duplications and deletions. Almost all of these algorithms restrict these operations to have a fixed size.</p> <p>Results</p> <p>In this paper, we present a heuristic algorithm to sort an ancestral genome (with unique gene content) into a genome of a descendant (with arbitrary gene content) by reversals, block interchanges, tandem duplications, and deletions, where tandem duplications and deletions are of arbitrary size.</p> <p>Conclusion</p> <p>Experimental results show that our algorithm finds sorting sequences that are close to an optimal sorting sequence when the ancestor and the descendant are closely related. The quality of the results decreases when the genomes get more diverged or the genome size increases. Nevertheless, the calculated distances give a good approximation of the true evolutionary distances.</p

Controversies in Surgical Staging of Endometrial Cancer

Endometrial cancer is the most common gynaecological malignancy and its incidence is increasing. In 1998, international federation of gynaecologists and obstetricians (FIGO) required a change from clinical to surgical staging in endometrial cancer, introducing pelvic and paraaortic lymphadenectomy. This staging requirement raised controversies around the importance of determining nodal status and impact of lymphadenectomy on outcomes. There is agreement about the prognostic value of lymphadenectomy, but its extent, therapeutic value, and benefits in terms of survival are still matter of debate, especially in early stages. Accurate preoperative risk stratification can guide to the appropriate type of surgery by selecting patients who benefit of lymphadenectomy. However, available preoperative and intraoperative investigations are not highly accurate methods to detect lymph nodes and a complete surgical staging remains the most precise method to evaluate extrauterine spread of the disease. Laparotomy has always been considered the standard approach for endometrial cancer surgical staging. Traditional and robotic-assisted laparoscopic techniques seem to provide equivalent results in terms of disease-free survival and overall survival compared to laparotomy. These minimally invasive approaches demonstrated additional benefits as shorter hospital stay, less use of pain killers, lower rate of complications and improved quality of life

Atypical chemoreceptor arrays accommodate high membrane curvature

The prokaryotic chemotaxis system is arguably the best-understood signaling pathway in biology. In all previously described species, chemoreceptors organize into a hexagonal (P6 symmetry) extended array. Here, we report an alternative symmetry (P2) of the chemotaxis apparatus that emerges from a strict linear organization of the histidine kinase CheA in Treponema denticola cells, which possesses arrays with the highest native curvature investigated thus far. Using cryo-ET, we reveal that Td chemoreceptor arrays assume an unusual arrangement of the supra-molecular protein assembly that has likely evolved to accommodate the high membrane curvature. The arrays have several atypical features, such as an extended dimerization domain of CheA and a variant CheW-CheR-like fusion protein that is critical for maintaining an ordered chemosensory apparatus. Furthermore, the previously characterized Td oxygen sensor ODP influences CheA ordering. These results suggest a greater diversity of the chemotaxis signaling system than previously thought