Self-adaptive decision-making mechanisms to balance the execution of multiple tasks for a multi-robots team

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple requirements, which may also be conflicting. The paper presents the problem as a constrained bi-objective optimization problem in which mobile robots must perform two specific tasks of exploration and at same time cooperation and coordination for disarming the hazardous targets. These objectives are opposed goals, in which one may be favored, but only at the expense of the other. Therefore, a good trade-off must be found. For this purpose, a nature-inspired approach and an analytical mathematical model to solve this problem considering a single equivalent weighted objective function are presented. The results of proposed coordination model, simulated in a two dimensional terrain, are showed in order to assess the behaviour of the proposed solution to tackle this problem. We have analyzed the performance of the approach and the influence of the weights of the objective function under different conditions: static and dynamic. In this latter situation, the robots may fail under the stringent limited budget of energy or for hazardous events. The paper concludes with a critical discussion of the experimental results

UAS pilot support for departure, approach and airfield operations

Unmanned Aerial Systems (UAS) have great potential to be used in a wide variety of civil applications such as environmental applications, emergency situations, surveillance tasks and more. The development of Flight Control Systems (FCS) coupled with the availability of other Commercial Off-The Shelf (COTS) components is enabling the introduction of UAS into the civil market. The sophistication of existing FCS is also making these systems accessible to end users with little aeronautics expertise. However, much work remains to be done to deliver systems that can be properly integrated in standard aeronautical procedures used by manned aviation

Ice morphology modification and solute recovery improvement by heating and annealing during block freeze-concentration of coffee extracts

Several treatments on ice blocks can be applied during block freeze-concentration to increase the solute recovery from the ice. In the present study, the changes in the ice block’s temperature and the application of annealing during the block freeze-concentration of aqueous coffee extracts were studied. The ice block was subjected to heating and annealing prior to the thawing stage. The effect of coolant temperature during ice block heating (T = -10 and -5 °C) and the application of annealing (+, -) on solute recovery and ice structure morphology was evaluated. The use of annealing during block freeze-concentration modified the ice crystal morphology and increased the solute recovery only when it is applied at the highest temperature. In general, the annealing process increased the size and circularity of the ice crystals, consequently improving the solute recovery. Thus, annealing can be used to increase the solute recovery during block freeze-concentration.Postprint (published version

Endometrial Stromal Cells Circulate in the Bloodstream of Women with Endometriosis: A Pilot Study

Endometriosis; Circulating endometrial cells; CD10Endometriosis; Células endometriales circulantes; CD10Endometriosi; Cèl·lules endometrials circulants; CD10Endometriosis is characterized by the presence of endometrial tissue outside the uterus. While endometriotic tissue is commonly localized in the pelvic cavity, it can also be found in distant sites, including the brain. The origin and pathophysiology of tissue migration is poorly understood; retrograde menstruation is thought to be the cause, although the presence of endometrium at distant sites is not explained by this hypothesis. To determine whether dissemination occurs via the bloodstream in women with endometriosis, we analyzed circulating blood for the presence of endometrial cells. Circulating endometrial stromal cells were identified only in women with endometriosis but not in controls, while endometrial epithelial cells were not identified in the circulation of either group. Our results support the hypothesis that endometrial stromal cells may migrate through circulation and promote the pathophysiology of endometriosis. The detection of these cells in circulation creates avenues for the development of less invasive diagnostic tools for the disease, and opens possibilities for further study of the origin of endometriosis.This research was funded by a Centro de Desarrollo Tecnologico Industrial (CDTI) grant (IDI-2013039). The Industrial Doctorate AGAUR (Agency for Administration of University and Research Grants, Catalonia, Spain) also supported this work (DI2015_ 074

Correlation of the Thanetian-Ilerdian turnover of larger foraminifera and the Paleocene-Eocene thermal maximum: confirming evidence from the Campo area (Pyrenees, Spain)

It has long been known that a major larger foraminifera turnover (LFT) occurred at the boundary between the Thanetian and Ilerdian stages, but its possible correlation with the Paleocene-Eocene thermal maximum (PETM) was unsuspected until the work of Baceta (1996), and has been controversial ever since. After summarizing the history of this controversy, we present information from three new sections that conclusively resolve the issue, all of them placed less than 2 km to the east of the classical Campo section in the southern Pyrenees. In these three sections, an up to 7 meter-thick intercalation of continental deposits rich in pedogenic carbonate nodules is sandwiched between uppermost Thanetian and lowermost Ilerdian shallow marine carbonates. The d13C composition of 42 pedogenic nodules collected from two of these sections (San Martín and La Cinglera) ranges between –11.4 and -14.3‰ and averages –12.9‰, values that conclusively represent the PETM and for the first time are recorded in sections where the LFT is clearly represented. Further, a high-resolution lithological correlation between Campo and the three new sections across the P-E interval unquestionably demonstrates that the lowermost marine beds with autochthonous specimens of Alveolina vredenburgi (a tell-tale of the LFT) are laterally interfingered –and are therefore coeval- with the nodule-bearing PETM continental deposits. On the basis of the new evidence, the temporal coincidence of the PETM and the LFT can no longer be doubted

Leptonic CP Violation in Supersymmetric Standard Model

We point out the possibility of spontaneous and hard CP-violation in the scalar potential of R-parity broken supersymmetric Standard Model. The existence of spontaneous CP-violation depends crucially on the R-parity breaking terms in the superpotential and, in addition, on the choice of the soft supersymmetry breaking terms. Unlike in theories with R-parity conservation, it is natural, in the context of the present model, for the sneutrinos to acquire (complex) vacuum expectation values. In the context of this model we examine here the global implications, like the strength of the CP-violating interactions and the neutrino masses.Comment: REVTEX, 15 page

Phase behaviour of Ag2CrO4 under compression: Structural, vibrational, and optical properties

This document is the Accepted Manuscript version of a Published Work that appeared in final form in Journal of Physical Chemistry C, copyright © American Chemical Society after peer review and technical editing by the publisher. To access the final edited and published work see http://dx.doi.org/10.1021/jp401524sWe have performed an experimental study of the crystal structure, lattice dynamics, and optical properties of silver chromate (Ag2CrO4) at ambient temperature and high pressures. In particular, the crystal structure, Raman-active phonons, and electronic band gap have been accurately determined. When the initial orthorhombic Pnma Ag2CrO4 structure (phase I) is compressed up to 4.5 GPa, a previously undetected phase (phase II) has been observed with a 0.95% volume collapse. The structure of phase II can be indexed to a similar orthorhombic cell as phase I, and the transition can be considered to be an isostructural transition. This collapse is mainly due to the drastic contraction of the a axis (1.3%). A second phase transition to phase III occurs at 13 GPa to a structure not yet determined. First-principles calculations have been unable to reproduce the isostructural phase transition, but they propose the stabilization of a spinel-type structure at 11 GPa. This phase is not detected in experiments probably because of the presence of kinetic barriers. Experiments and calculations therefore seem to indicate that a new structural and electronic description is required to model the properties of silver chromate.This study was supported by the Spanish government MEC under grants MAT2010-21270-C04-01/03/04 and CTQ2009-14596-C02-01, by the Comunidad de Madrid and European Social Fund (S2009/PPQ1551 4161893), by the MALTA Consolider Ingenio 2010 project (CSD2007-00045), and by the Vicerrectorado de Investigacion y Desarrollo of the Universidad Politecnica de Valencia (UPV2011-0914 PAID-05-11 and UPV2011-0966 PAID-06-11). A.M. and P.R.-H. acknowledge computing time provided by Red Espanola de Supercomputacion (RES) and MALTA-Cluster. J.A.S. acknowledges Juan de la Cierva Fellowship Program for its financial support. Diamond and ALBA Synchrotron Light Sources are acknowledged for provisions of beam time. We also thank Drs. Peral, Popescu, and Fauth for technical support.Santamaría Pérez, D.; Bandiello, E.; Errandonea, D.; Ruiz-Fuertes, J.; Gomis Hilario, O.; Sans, JÁ.; Manjón Herrera, FJ.... (2013). Phase behaviour of Ag2CrO4 under compression: Structural, vibrational, and optical properties. Journal of Physical Chemistry C. 117(23):12239-12248. https://doi.org/10.1021/jp401524sS12239122481172

Soluble CD137 as a dynamic biomarker to monitor agonist CD137 immunotherapies

Background On the basis of efficacy in mouse tumor models, multiple CD137 (4-1BB) agonist agents are being preclinically and clinically developed. The costimulatory molecule CD137 is inducibly expressed as a transmembrane or as a soluble protein (sCD137). Moreover, the CD137 cytoplasmic signaling domain is a key part in approved chimeric antigen receptors (CARs). Reliable pharmacodynamic biomarkers for CD137 ligation and costimulation of T cells will facilitate clinical development of CD137 agonists in the clinic. Methods We used human and mouse CD8 T cells undergoing activation to measure CD137 transcription and protein expression levels determining both the membrane-bound and soluble forms. In tumor-bearing mice plasma sCD137 concentrations were monitored on treatment with agonist anti-CD137 monoclonal antibodies (mAbs). Human CD137 knock-in mice were treated with clinical-grade agonist anti-human CD137 mAb (Urelumab). Sequential plasma samples were collected from the first patients intratumorally treated with Urelumab in the INTRUST clinical trial. Anti-mesothelin CD137-encompassing CAR-transduced T cells were stimulated with mesothelin coated microbeads. sCD137 was measured by sandwich ELISA and Luminex. Flow cytometry was used to monitor CD137 surface expression. Results CD137 costimulation upregulates transcription and protein expression of CD137 itself including sCD137 in human and mouse CD8 T cells. Immunotherapy with anti-CD137 agonist mAb resulted in increased plasma sCD137 in mice bearing syngeneic tumors. sCD137 induction is also observed in human CD137 knock-in mice treated with Urelumab and in mice transiently humanized with T cells undergoing CD137 costimulation inside subcutaneously implanted Matrigel plugs. The CD137 signaling domain-containing CAR T cells readily released sCD137 and acquired CD137 surface expression on antigen recognition. Patients treated intratumorally with low dose Urelumab showed increased plasma concentrations of sCD137. Conclusion sCD137 in plasma and CD137 surface expression can be used as quantitative parameters dynamically reflecting therapeutic costimulatory activity elicited by agonist CD137-targeted agents

Quantitative Mass Spectrometry Analysis Reveals Similar Substrate Consensus Motif for Human Mps1 Kinase and Plk1

Background Members of the Mps1 kinase family play an essential and evolutionarily conserved role in the spindle assembly checkpoint (SAC), a surveillance mechanism that ensures accurate chromosome segregation during mitosis. Human Mps1 (hMps1) is highly phosphorylated during mitosis and many phosphorylation sites have been identified. However, the upstream kinases responsible for these phosphorylations are not presently known. Methodology/Principal Findings Here, we identify 29 in vivo phosphorylation sites in hMps1. While in vivo analyses indicate that Aurora B and hMps1 activity are required for mitotic hyper-phosphorylation of hMps1, in vitro kinase assays show that Cdk1, MAPK, Plk1 and hMps1 itself can directly phosphorylate hMps1. Although Aurora B poorly phosphorylates hMps1 in vitro, it positively regulates the localization of Mps1 to kinetochores in vivo. Most importantly, quantitative mass spectrometry analysis demonstrates that at least 12 sites within hMps1 can be attributed to autophosphorylation. Remarkably, these hMps1 autophosphorylation sites closely resemble the consensus motif of Plk1, demonstrating that these two mitotic kinases share a similar substrate consensus. Conclusions/Significance hMps1 kinase is regulated by Aurora B kinase and its autophosphorylation. Analysis on hMps1 autophosphorylation sites demonstrates that hMps1 has a substrate preference similar to Plk1 kinase

Search for gravitational waves from low mass compact binary coalescence in LIGO’s sixth science run and Virgo’s science runs 2 and 3

We report on a search for gravitational waves from coalescing compact binaries using LIGO and Virgo observations between July 7, 2009, and October 20, 2010. We searched for signals from binaries with total mass between 2 and 25M_⊙; this includes binary neutron stars, binary black holes, and binaries consisting of a black hole and neutron star. The detectors were sensitive to systems up to 40 Mpc distant for binary neutron stars, and further for higher mass systems. No gravitational-wave signals were detected. We report upper limits on the rate of compact binary coalescence as a function of total mass, including the results from previous LIGO and Virgo observations. The cumulative 90% confidence rate upper limits of the binary coalescence of binary neutron star, neutron star-black hole, and binary black hole systems are 1.3×10^(-4), 3.1×10^(-5), and 6.4×10^(-6)  Mpc^(-3) yr^(-1), respectively. These upper limits are up to a factor 1.4 lower than previously derived limits. We also report on results from a blind injection challenge