Hierarchical Traffic Management of Multi-AGV Systems With Deadlock Prevention Applied to Industrial Environments

This paper concerns the coordination and the traffic management of a group of Automated Guided Vehicles (AGVs) moving in a real industrial scenario, such as an automated factory or warehouse. The proposed methodology is based on a three-layer control architecture, which is described as follows: 1) the Top Layer (or Topological Layer) allows to model the traffic of vehicles among the different areas of the environment; 2) the Middle Layer allows the path planner to compute a traffic sensitive path for each vehicle; 3) the Bottom Layer (or Roadmap Layer) defines the final routes to be followed by each vehicle and coordinates the AGVs over time. In the paper we describe the coordination strategy we propose, which is executed once the routes are computed and has the aim to prevent congestions, collisions and deadlocks. The coordination algorithm exploits a novel deadlock prevention approach based on time-expanded graphs. Moreover, the presented control architecture aims at grounding theoretical methods to an industrial application by facing the typical practical issues such as graphs difficulties (load/unload locations, weak connections,), a predefined roadmap (constrained by the plant layout), vehicles errors, dynamical obstacles, etc. In this paper we propose a flexible and robust methodology for multi-AGVs traffic-aware management. Moreover, we propose a coordination algorithm, which does not rely on ad hoc assumptions or rules, to prevent collisions and deadlocks and to deal with delays or vehicle motion errors. Note to Practitioners-This paper concerns the coordination and the traffic management of a group of Automated Guided Vehicles (AGVs) moving in a real industrial scenario, such as an automated factory or warehouse. The proposed methodology is based on a three-layer control architecture, which is described as follows: 1) the Top Layer (or Topological Layer) allows to model the traffic of vehicles among the different areas of the environment; 2) the Middle Layer allows the path planner to compute a traffic sensitive path for each vehicle; 3) the Bottom Layer (or Roadmap Layer) defines the final routes to be followed by each vehicle and coordinates the AGVs over time. In the paper we describe the coordination strategy we propose, which is executed once the routes are computed and has the aim to prevent congestions, collisions and deadlocks. The coordination algorithm exploits a novel deadlock prevention approach based on time-expanded graphs. Moreover, the presented control architecture aims at grounding theoretical methods to an industrial application by facing the typical practical issues such as graphs difficulties (load/unload locations, weak connections, ), a predefined roadmap (constrained by the plant layout), vehicles errors, dynamical obstacles, etc. In this paper we propose a flexible and robust methodology for multi-AGVs traffic-aware management. Moreover, we propose a coordination algorithm, which does not rely on ad hoc assumptions or rules, to prevent collisions and deadlocks and to deal with delays or vehicle motion errors

Measurement and classification of human characteristics and capabilities during interaction tasks

In this paperwe address the need to design adaptive interacting systems for advanced industrial production machines. Modern production systems have become highly complex and include many subsidiary functionalities, thus making it difficult for least skilled human operators interact with them. In this regard, adapting the behavior of the machine and of the operator interface to the characteristics of the user allows a more effective interaction process, with a positive impact on manufacturing efficiency and user's satisfaction. To this end, it is crucial to understandwhich are the user's capabilities that influence the interaction and, hence, should be measured to provide the correct amount of adaptation.Moving along these lines, in this paper we identify groups of users that, despite having different individual capabilities and features, have common needs and response to the interaction with complex production systems. As a consequence,we define clusters of users that have the same need for adaptation. Then, adaptation rules can be defined by considering such users' clusters, rather than addressing specific individual user's needs

Sucesión ecológica de un bosque nativo intervenido en la ecorregión Espinal

La sucesión ecológica es un término holístico integrado por numerosas disciplinas que hace referencia a la evolución natural interna de un ecosistema en el tiempo. Su estudio es complejo porque escapa temporalmente al ser humano. En el proyecto se abordaron diferentes temáticas con un objetivo común: explicar procesos o fenómenos que altere, perturbe o modifique la dirección natural de los ecosistemas boscosos nativos. Se utilizaron diversas metodologías a campo y en gabinete para abordar estos temas. Como resultado, se estableció una revisión sobre el concepto, y se analizó cuáles fueron los cambios en la estructura vegetal y el suelo luego de intervenir mecánicamente un bosque nativo degradado típico de Entre Ríos. Se realizó un método de clasificación basado en el entrenamiento de redes neuronales que determina cuál es el estado sucesional vegetal basado en la presencia y ausencia de especies. Se modelaron los cambios de las precipitaciones de una región encontrándose anomalías climáticas como consecuencia del cambio climático global, siendo motivo a partir de ello, el stock de carbono almacenado en bosques nativos protegidos. La distribución potencial de un mamífero tope de la cadena trófica fue asociada a los bosques estables. El proyecto fue relevante para el estudio de la sucesión ecológica en Entre Ríos, contribuyendo nuevas evidencias sobre cómo se produce, cómo es afectado y de qué manera se restablece luego de un disturbio. ARK/CAICYT: http://id.caicyt.gov.ar/ark:/s22504559/44lkcqt1f  

An Adaptive Virtual Training System Based on Universal Design

The increasing complexity of manufacturing environments requires effective training systems to prepare the operation personnel for their tasks. Several training systems have been proposed. A common approach is the application of virtual environments to train interactions with an industrial machine in a safe, attractive, and efficient way. However, these training systems cannot adapt to the requirements of an increasingly diversified workforce. This paper introduces an approach for the design of an adaptive virtual training system based on the idea of universal design. The system is based on a two-step approach that consists of an initial adaptation to the user capabilities and real-time adaptations during training based on measurements of the user. The adaptations concern the use of different representations of lessons with different complexity and interaction modalities. The proposed approach provides a flexible training system that can adapt to the needs of a broad group of users

Blastic plasmacytoid dendritic cell neoplasm: Genomics mark epigenetic dysregulation as a primary therapeutic target

Blastic plasmacytoid dendritic cell neoplasm (BPDCN) is a rare and aggressive hematologic malignancy for which there is still no effective B therapy. In order to identify genetic alterations useful for a new treatment design, we used whole-exome sequencing to analyze 14 BPDCN patients and the patient-derived CAL-1 cell line. The functional enrichment analysis of mutational data reported the epigenetic regulatory program to be the most significantly undermined (P<0.0001). In particular, twenty-five epigenetic modifiers were found mutated (e.g. ASXL1, TET2, SUZ12, ARID1A, PHF2, CHD8); ASXL1 was the most frequently affected (28.6% of cases). To evaluate the impact of the identified epigenetic mutations at the gene-expression and Histone H3 lysine 27 trimethylation/acetylation levels, we performed additional RNA and pathology tissue-chromatin immunoprecipitation sequencing experiments. The patients displayed enrichment in gene signatures regulated by methylation and modifiable by decitabine administration, shared common H3K27-acetylated regions, and had a set of cell-cycle genes aberrantly up-regulated and marked by promoter acetylation. Collectively, the integration of sequencing data showed the potential of a therapy based on epigenetic agents. Through the adoption of a preclinical BPDCN mouse model, established by CAL-1 cell line xenografting, we demonstrated the efficacy of the combination of the epigenetic drugs 5’-azacytidine and decitabine in controlling disease progression in vivo

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Burkitt lymphoma with a granulomatous reaction: an M1/Th1-polarised microenvironment is associated with controlled growth and spontaneous regression

Aims: Burkitt lymphoma (BL) is an aggressive B-cell lymphoma that, in some instances, may show a granulomatous reaction associated with a favourable prognosis and occasional spontaneous regression. In the present study, we aimed to define the tumour microenvironment (TME) in four such cases, two of which regressed spontaneously. Methods and results: All cases showed aggregates of tumour cells with the typical morphology, molecular cytogenetics and immunophenotype of BL surrounded by a florid epithelioid granulomatous reaction. All four cases were Epstein–Barr virus (EBV)-positive with type I latency. Investigation of the TME showed similar features in all four cases. The analysis revealed a proinflammatory response triggered by Th1 lymphocytes and M1 polarised macrophages encircling the neoplastic cells with a peculiar topographic distribution. Conclusions: Our data provide an in-vivo picture of the role that specific immune cell subsets might play during the early phase of BL, which may be capable of maintaining the tumour in a self-limited state or inducing its regression. These novel results may provide insights into new potential therapeutic avenues in EBV-positive BL patients in the era of cellular immunotherapy

Burkitt lymphoma with granulomatous reaction: A M1/TH1‐polarized microenvironment associates with controlled growth and spontaneous regression

AIMS: Burkitt lymphoma (BL) is an aggressive B-cell lymphoma, which in some instances, may show a granulomatous reaction associated with a favourable prognosis and occasional spontaneous regression. In the present study, we aimed to define the tumour microenvironment (TME) in four of such cases, two of which regressed spontaneously. METHODS AND RESULTS: All cases showed aggregates of tumour cells with the typical morphology, molecular cytogenetics and immunophenotype of BL surrounded by a florid epithelioid granulomatous reaction. All four cases were Epstein-Barr virus (EBV) positive with type I latency. The investigation of the tumour microenvironment (TME) showed similar features in all four cases. The analysis revealed a pro-inflammatory response triggered by Th1 lymphocytes and M1 polarized macrophages encircling the neoplastic cells with a peculiar topographic distribution. CONCLUSIONS: Our data provide an in vivo picture of the role that specific immune cell subsets might play during the early phase of BL, which may be capable of maintaining the tumour in a self-limited state or inducing its regression. These novel results may provide insights to explore new potential therapeutic avenues in EBV-positive BL patients in the era of cellular immunotherapy

Novel and rare fusion transcripts involving transcription factors and tumor suppressor genes in acute myeloid leukemia

Approximately 18% of acute myeloid leukemia (AML) cases express a fusion transcript. However, few fusions are recurrent across AML and the identification of these rare chimeras is of interest to characterize AML patients. Here, we studied the transcriptome of 8 adult AML patients with poorly described chromosomal translocation(s), with the aim of identifying novel and rare fusion transcripts. We integrated RNA-sequencing data with multiple approaches including computational analysis, Sanger sequencing, fluorescence in situ hybridization and in vitro studies to assess the oncogenic potential of the ZEB2-BCL11B chimera. We detected 7 different fusions with partner genes involving transcription factors (OAZ-MAFK, ZEB2-BCL11B), tumor suppressors (SAV1-GYPB, PUF60-TYW1, CNOT2-WT1) and rearrangements associated with the loss of NF1 (CPD-PXT1, UTP6-CRLF3). Notably, ZEB2-BCL11B rearrangements co-occurred with FLT3 mutations and were associated with a poorly differentiated or mixed phenotype leukemia. Although the fusion alone did not transform murine c-Kit+ bone marrow cells, 45.4% of 14q32 non-rearranged AML cases were also BCL11B-positive, suggesting a more general and complex mechanism of leukemogenesis associated with BCL11B expression. Overall, by combining different approaches, we described rare fusion events contributing to the complexity of AML and we linked the expression of some chimeras to genomic alterations hitting known genes in AML