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

Edge-Weighted Consensus Based Formation Control Strategy With Collision Avoidance

In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The for- mation shape and the avoidance of collisions between robots are ob- tained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. More- over, results of simulations and experiments on real robots are provided for validation purposes

Features and prognostic impact of distant metastases in 45 dogs with de novo stage IV cutaneous mast cell tumours: A prospective study

BACKGROUND: Distant metastases in dogs with cutaneous mast cell tumors (cMCT) are rare and incurable. The aims of this prospective study were to clarify the clinico-pathological features of stage IV cMCTs and to identify possible prognostic factors for progression-free interval (PFI) and survival time (ST). MATERIAL AND METHODS: Dogs were eligible for recruitment if they had a previously untreated, histologically confirmed cMCT and if they underwent complete staging demonstrating stage IV disease. Dogs were uniformly followed-up, whereas treatment was not standardized and included no therapy, surgery, radiation therapy, chemotherapy, tyrosine-kinase inhibitors or a combination of these. RESULTS: 45 dogs with stage IV cMCT were enrolled. All dogs had distant metastatic disease, and 41 (91.1%) dogs had also metastasis in the regional lymph node. Histopathological grade and mutational status greatly varied among dogs. Median ST was 110 days. Notably, PFI and ST were independent of well-known prognostic factors, including anatomic site, histological grade, and mutational status. Conversely, tumor diameter >3\u2009cm, more than 2 metastatic sites, bone marrow infiltration, and lack of tumor control at the primary site were confirmed to be negative prognostic factors by multivariate analysis. CONCLUSION: Currently, there is no satisfactory treatment for stage IV cMCT. Asymptomatic dogs with tumor diameter <3\u2009cm and a low tumor burden, without bone marrow infiltration may be candidates for multimodal treatment. Stage IV dogs without lymph node metastasis may enjoy a surprisingly prolonged survival. The achievement of local tumor control seems to predict a better outcome in dogs with stage IV cMCT

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  

Experimental and numerical analysis of supersonic blade profiles developed for highly loaded impulse type steam turbine stages

The paper describes the results of a numerical and experimental research program addressing the aerodynamic investigation on the performance of blade profiles specifically developed for application in highly loaded impulse type turbine stages. The industrial requirements driving toward the adoption of highly loaded stage solutions are presented, along with an estimation of the profiles operating parameters. Two stator vanes and one rotor blade profile have been developed and extensively tested by means of flow field measurements and schlieren visualization in a transonic blow-down wind tunnel for linear cascades. Experimental results for the relevant operating conditions are presented, providing validation data for the CFD model used for blade design and evidencing that the main goals of the design optimization procedure have been achieved

A practical algorithmic approach to mature aggressive B cell lymphoma diagnosis in the double/triple hit era. Selecting cases, matching clinical benefit. A position paper from the Italian Group of Haematopathology (G.I.E.)

An accurate diagnosis of clinically distinct subgroups of aggressive mature B cell lymphomas is crucial for the choice of proper treatment. Presently, precise recognition of these disorders relies on the combination of morphological, immunophenotypical, and cytogenetic/molecular features. The diagnostic workup in such situations implies the application of costly and time-consuming analyses, which are not always required, since an intensified treatment option is reasonably reserved to fit patients. The Italian Group of Haematopathology proposes herein a practical algorithm for the diagnosis of aggressive mature B cell lymphomas based on a stepwise approach, aimed to select cases deserving molecular analysis, in order to optimize time and resources still assuring the optimal management for any patient

A case report of IgG4-related disease: an insidious path to the diagnosis through kidney, heart and brain

BACKGROUND: IgG4-related disease, described around the years 2000 as a form of autoimmune pancreatitis, is now increasingly accepted as a systemic syndrome. The diagnosis is based on both comprehensive and organ-specific criteria. For the kidney, Mayo clinic classification and the guidelines of the Japanese Nephrology Society are used. Ultimately, together with parameters that characterize every organ or apparatus involved, the key element is the confirmation of growing levels of IgG4 in blood or in tissues. CASE PRESENTATION: We describe a male patient with chronic renal failure associated to hypertension without proteinuria. IgG4-related disease was diagnosed through renal biopsy. After an initial positive response to steroids, he presented tinnitus, and histological assessment showed cerebral and subsequently cardiac damage, both IgG4-related. This case appears unique for the type of histologically documented cardiac and neurological parenchymal involvement, and at the same time, exemplifies the subtle and pernicious course of the disease. Frequently, blurred and non-specific signs prevail. Here, kidney damage was associated with minimal urinary findings, slowly progressive renal dysfunction and other factors that can be equivocated in the differential diagnosis. Neurological involvement was represented by tinnitus alone, while cardiac alterations were completely asymptomatic. CONCLUSIONS: This report is representative of the neurological and cardiac changes described in the literature for IgG4-related disease, which may be correlated or not with the renal form and highlights the need, in some cases, of targeted therapeutic approaches. In addition to glucocorticoids, as in this case, rituximab may be necessary

Lymphadenectomy improves outcome in dogs with resected Kiupel high-grade cutaneous mast cell tumours and overtly metastatic regional lymph nodes

Historically, the prognosis for dogs with stage II Kiupel high-grade cutaneous mast cell tumours has been considered poor

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&lt;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