The Fermat-Torricelli problem in normed planes and spaces

We investigate the Fermat-Torricelli problem in d-dimensional real normed spaces or Minkowski spaces, mainly for d=2. Our approach is to study the Fermat-Torricelli locus in a geometric way. We present many new results, as well as give an exposition of known results that are scattered in various sources, with proofs for some of them. Together, these results can be considered to be a minitheory of the Fermat-Torricelli problem in Minkowski spaces and especially in Minkowski planes. This demonstrates that substantial results about locational problems valid for all norms can be found using a geometric approach

A model of ant route navigation driven by scene familiarity

In this paper we propose a model of visually guided route navigation in ants that captures the known properties of real behaviour whilst retaining mechanistic simplicity and thus biological plausibility. For an ant, the coupling of movement and viewing direction means that a familiar view specifies a familiar direction of movement. Since the views experienced along a habitual route will be more familiar, route navigation can be re-cast as a search for familiar views. This search can be performed with a simple scanning routine, a behaviour that ants have been observed to perform. We test this proposed route navigation strategy in simulation, by learning a series of routes through visually cluttered environments consisting of objects that are only distinguishable as silhouettes against the sky. In the first instance we determine view familiarity by exhaustive comparison with the set of views experienced during training. In further experiments we train an artificial neural network to perform familiarity discrimination using the training views. Our results indicate that, not only is the approach successful, but also that the routes that are learnt show many of the characteristics of the routes of desert ants. As such, we believe the model represents the only detailed and complete model of insect route guidance to date. What is more, the model provides a general demonstration that visually guided routes can be produced with parsimonious mechanisms that do not specify when or what to learn, nor separate routes into sequences of waypoints

A flexible component-based robot control architecture for hormonal modulation of behaviour and affect

This document is the Accepted Manuscritpt of a paper published in Proceedings of 18th Annual Conference, TAROS 2017, Guildford, UK, July 19–21, 2017. Under embargo. Embargo end date: 20 July 2018. The final publication is available at Springer via https://link.springer.com/chapter/10.1007%2F978-3-319-64107-2_36. © 2017 Springer, Cham.In this paper we present the foundations of an architecture that will support the wider context of our work, which is to explore the link between affect, perception and behaviour from an embodied perspective and assess their relevance to Human Robot Interaction (HRI). Our approach builds upon existing affect-based architectures by combining artificial hormones with discrete abstract components that are designed with the explicit consideration of influencing, and being receptive to, the wider affective state of the robot

Local Enhancement Promotes Cockroach Feeding Aggregations

Communication and learning from each other are part of the success of animal societies. Social insects invest considerable effort into signalling to their nestmates the locations of the most profitable resources in their environment. Growing evidence also indicates that insects glean such information through cues inadvertently provided by their conspecifics. Here, we investigate social information use in the foraging decisions by gregarious cockroaches (Blattella germanica L.). Individual cockroaches given a simultaneous choice in a Y-olfactometer between the odour of feeding conspecifics and the mixed odour of food plus non-feeding conspecifics showed a preference for the arm scented with the odour of feeding conspecifics. Social information (the presence of feeding conspecifics) was produced by cockroaches of all age classes and perceived at short distance in the olfactometer arms, suggesting the use of inadvertently provided cues rather than signals. We discuss the nature of these cues and the role of local enhancement (the selection of a location based on cues associated with the presence of conspecifics) in the formation of feeding aggregations in B. germanica. Similar cue-mediated recruitments could underpin a wide range of collective behaviours in group-living insects

Making Galaxies in a Cosmological Context: The Need for Early Stellar Feedback

We introduce the Making Galaxies in a Cosmological Context (MaGICC) program of smoothed particle hydrodynamics (SPH) simulations. We describe a parameter study of galaxy formation simulations of an L* galaxy that uses early stellar feedback combined with supernova feedback to match the stellar mass--halo mass relationship. While supernova feedback alone can reduce star formation enough to match the stellar mass--halo mass relationship, the galaxy forms too many stars before z=2 to match the evolution seen using abundance matching. Our early stellar feedback is purely thermal and thus operates like a UV ionization source as well as providing some additional pressure from the radiation of massive, young stars. The early feedback heats gas to >10^6 K before cooling to 10^4 K. The pressure from this hot gas creates a more extended disk and prevents more star formation prior to z=1 than supernovae feedback alone. The resulting disk galaxy has a flat rotation curve, an exponential surface brightness profile, and matches a wide range of disk scaling relationships. The disk forms from the inside-out with an increasing exponential scale length as the galaxy evolves. Overall, early stellar feedback helps to simulate galaxies that match observational results at low and high redshifts.Comment: 13 pages, 14 figures, accepted MNRAS, movies at http://www.mpia.de/~stinson/magic

Tuberculosis in antiretroviral treatment programs in lower income countries: availability and use of diagnostics and screening.

In resource-constrained settings, tuberculosis (TB) is a common opportunistic infection and cause of death in HIV-infected persons. TB may be present at the start of antiretroviral therapy (ART), but it is often under-diagnosed. We describe approaches to TB diagnosis and screening of TB in ART programs in low- and middle-income countries

Estimating health workforce needs for antiretroviral therapy in resource-limited settings

BACKGROUND: Efforts to increase access to life-saving treatment, including antiretroviral therapy (ART), for people living with HIV/AIDS in resource-limited settings has been the growing focus of international efforts. One of the greatest challenges to scaling up will be the limited supply of adequately trained human resources for health, including doctors, nurses, pharmacists and other skilled providers. As national treatment programmes are planned, better estimates of human resource needs and improved approaches to assessing the impact of different staffing models are critically needed. However there have been few systematic assessments of staffing patterns in existing programmes or of the estimates being used in planning larger programmes. METHODS: We reviewed the published literature and selected plans and scaling-up proposals, interviewed experts and collected data on staffing patterns at existing treatment sites through a structured survey and site visits. RESULTS: We found a wide range of staffing patterns and patient-provider ratios in existing and planned treatment programmes. Many factors influenced health workforce needs, including task assignments, delivery models, other staff responsibilities and programme size. Overall, the number of health care workers required to provide ART to 1000 patients included 1–2 physicians, 2–7 nurses, <1 to 3 pharmacy staff, and a much wider range of counsellors and treatment supporters. We estimate from these data that the equivalent of 20 000 to 100 000 physicians, nurses, pharmacists and other core clinical staff will be needed to meet the WHO target of treating 3 million people by the end of 2005. The total number of staff, including counsellors, administrators and other cadres, could be substantially higher. DISCUSSION: These data are consistent with other estimates of human resource requirements for antiretroviral therapy, but highlight the considerable variability of current staffing models and the importance of a broad range of factors in determining personnel needs. Few outcome or cost data are currently available to assess the effectiveness and efficiency of different staffing models, and it will be important to develop improved methods for gathering this information as treatment programmes are scaled up

Complementary landmarks facilitate ant navigation

© 2018 The Authors Visual landmarks are important navigational aids to many animals, and when more than one is available their juxtaposition can convey valuable new information to a navigator about progress toward a goal, depending on the landmarks’ comparative distinctiveness. We investigated the effect of presenting rock ant colonies (Temnothorax albipennis) with identical horizontal landmarks either side of their route, versus one horizontal landmark paired with a sloping landmark, as they navigated to a new nest site. Our findings suggest that ants can obtain more navigational information from a combination of dissimilar landmarks: the average tortuosity of the route taken between old and new nests was significantly lower when a horizontal landmark was paired with a monotonically downward sloping landmark (the paths were more direct). The impact on available navigational information from the similarity or dissimilarity of nearby landmarks is likely made through more distinctive visual panoramas, and could be an influential factor in individual and collective animal decision-making about which routes are followed. Furthermore, the effect of landmark complementarity may be relevant to a wide range of species, including other insects or birds, and highlights the possibility that there is an intrinsic difference in the informational content of natural vs. artificial environments

Calibrating an updated SPH scheme within GCD+

We adapt a modern scheme of smoothed particle hydrodynamics (SPH) to our tree N-body/SPH galactic chemodynamics code GCD+. The applied scheme includes imple- mentations of the artificial viscosity switch and artificial thermal conductivity pro- posed by Morris & Monaghan (1997), Rosswog & Price (2007) and Price (2008), to model discontinuities and Kelvin-Helmholtz instabilities more accurately. We first present hydrodynamics test simulations and contrast the results to runs undertaken without artificial viscosity switch or thermal conduction. In addition, we also explore the different levels of smoothing by adopting larger or smaller smoothing lengths, i.e. a larger or smaller number of neighbour particles, Nnb. We demonstrate that the new version of GCD+ is capable of modelling Kelvin-Helmholtz instabilities to a simi- lar level as the mesh code, Athena. From the Gresho vortex, point-like explosion and self-similar collapse tests, we conclude that setting the smoothing length to keep the number of neighbour particles as high as Nnb~58 is preferable to adopting smaller smoothing lengths. We present our optimised parameter sets from the hydrodynamics tests.Comment: 14 pages, 2 tables, 15 figures, MNRAS in pres

Linear and Branched Glyco-Lipopeptide Vaccines Follow Distinct Cross-Presentation Pathways and Generate Different Magnitudes of Antitumor Immunity

Glyco-lipopeptides, a form of lipid-tailed glyco-peptide, are currently under intense investigation as B- and T-cell based vaccine immunotherapy for many cancers. However, the cellular and molecular mechanisms of glyco-lipopeptides (GLPs) immunogenicity and the position of the lipid moiety on immunogenicity and protective efficacy of GLPs remain to be determined.We have constructed two structural analogues of HER-2 glyco-lipopeptide (HER-GLP) by synthesizing a chimeric peptide made of one universal CD4(+) epitope (PADRE) and one HER-2 CD8(+) T-cell epitope (HER(420-429)). The C-terminal end of the resulting CD4-CD8 chimeric peptide was coupled to a tumor carbohydrate B-cell epitope, based on a regioselectively addressable functionalized templates (RAFT), made of four alpha-GalNAc molecules. The resulting HER glyco-peptide (HER-GP) was then linked to a palmitic acid moiety, attached either at the N-terminal end (linear HER-GLP-1) or in the middle between the CD4+ and CD8+ T cell epitopes (branched HER-GLP-2). We have investigated the uptake, processing and cross-presentation pathways of the two HER-GLP vaccine constructs, and assessed whether the position of linkage of the lipid moiety would affect the B- and T-cell immunogenicity and protective efficacy. Immunization of mice revealed that the linear HER-GLP-1 induced a stronger and longer lasting HER(420-429)-specific IFN-gamma producing CD8(+) T cell response, while the branched HER-GLP-2 induced a stronger tumor-specific IgG response. The linear HER-GLP-1 was taken up easily by dendritic cells (DCs), induced stronger DCs maturation and produced a potent TLR- 2-dependent T-cell activation. The linear and branched HER-GLP molecules appeared to follow two different cross-presentation pathways. While regression of established tumors was induced by both linear HER-GLP-1 and branched HER-GLP-2, the inhibition of tumor growth was significantly higher in HER-GLP-1 immunized mice (p<0.005).These findings have important implications for the development of effective GLP based immunotherapeutic strategies against cancers