Lower Bounds for Shoreline Searching With 2 or More Robots

Searching for a line on the plane with $n$ unit speed robots is a classic online problem that dates back to the 50's, and for which competitive ratio upper bounds are known for every $n\geq 1$. In this work we improve the best lower bound known for $n=2$ robots from 1.5993 to 3. Moreover we prove that the competitive ratio is at least $\sqrt{3}$ for $n=3$ robots, and at least $1/\cos(\pi/n)$ for $n\geq 4$ robots. Our lower bounds match the best upper bounds known for $n\geq 4$, hence resolving these cases. To the best of our knowledge, these are the first lower bounds proven for the cases $n\geq 3$ of this several decades old problem.Comment: This is an updated version of the paper with the same title which will appear in the proceedings of the 23rd International Conference on Principles of Distributed Systems (OPODIS 2019) Neuchatel, Switzerland, July 17-19, 201

Multi-agent Collective Construction using 3D Decomposition

This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that can carry one cubic block at a time, and move forward, reverse, left, and right to an adjacent cell of the same height or climb up and down one cube height. To construct structures taller than one cube, the robots must build supporting stairs made of blocks and remove the stairs once the structure is built. Conventional techniques solve for the entire structure at once and quickly become intractable for larger workspaces and complex structures, especially in a multi-agent setting. To this end, we present a decomposition algorithm that computes valid substructures based on intrinsic structural dependencies. We use Mixed Integer Linear Programming (MILP) to solve for each of these substructures and then aggregate the solutions to construct the entire structure. Extensive testing on 200 randomly generated structures shows an order of magnitude improvement in the solution computation time compared to an MILP approach without decomposition. Additionally, compared to Reinforcement Learning (RL) based and heuristics-based approaches drawn from the literature, our solution indicates orders of magnitude improvement in the number of pick-up and drop-off actions required to construct a structure. Furthermore, we leverage the independence between substructures to detect which sub-structures can be built in parallel. With this parallelization technique, we illustrate a further improvement in the number of time steps required to complete building the structure. This work is a step towards applying multi-agent collective construction for real-world structures by significantly reducing solution computation time with a bounded increase in the number of time steps required to build the structure.Comment: Presented at the Multi-agent Path Finding Workshop at AAAI 202

Global burden of 369 diseases and injuries in 204 countries and territories, 1990–2019: a systematic analysis for the Global Burden of Disease Study 2019

Background: In an era of shifting global agendas and expanded emphasis on non-communicable diseases and injuries along with communicable diseases, sound evidence on trends by cause at the national level is essential. The Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) provides a systematic scientific assessment of published, publicly available, and contributed data on incidence, prevalence, and mortality for a mutually exclusive and collectively exhaustive list of diseases and injuries. Methods: GBD estimates incidence, prevalence, mortality, years of life lost (YLLs), years lived with disability (YLDs), and disability-adjusted life-years (DALYs) due to 369 diseases and injuries, for two sexes, and for 204 countries and territories. Input data were extracted from censuses, household surveys, civil registration and vital statistics, disease registries, health service use, air pollution monitors, satellite imaging, disease notifications, and other sources. Cause-specific death rates and cause fractions were calculated using the Cause of Death Ensemble model and spatiotemporal Gaussian process regression. Cause-specific deaths were adjusted to match the total all-cause deaths calculated as part of the GBD population, fertility, and mortality estimates. Deaths were multiplied by standard life expectancy at each age to calculate YLLs. A Bayesian meta-regression modelling tool, DisMod-MR 2.1, was used to ensure consistency between incidence, prevalence, remission, excess mortality, and cause-specific mortality for most causes. Prevalence estimates were multiplied by disability weights for mutually exclusive sequelae of diseases and injuries to calculate YLDs. We considered results in the context of the Socio-demographic Index (SDI), a composite indicator of income per capita, years of schooling, and fertility rate in females younger than 25 years. Uncertainty intervals (UIs) were generated for every metric using the 25th and 975th ordered 1000 draw values of the posterior distribution. Findings: Global health has steadily improved over the past 30 years as measured by age-standardised DALY rates. After taking into account population growth and ageing, the absolute number of DALYs has remained stable. Since 2010, the pace of decline in global age-standardised DALY rates has accelerated in age groups younger than 50 years compared with the 1990–2010 time period, with the greatest annualised rate of decline occurring in the 0–9-year age group. Six infectious diseases were among the top ten causes of DALYs in children younger than 10 years in 2019: lower respiratory infections (ranked second), diarrhoeal diseases (third), malaria (fifth), meningitis (sixth), whooping cough (ninth), and sexually transmitted infections (which, in this age group, is fully accounted for by congenital syphilis; ranked tenth). In adolescents aged 10–24 years, three injury causes were among the top causes of DALYs: road injuries (ranked first), self-harm (third), and interpersonal violence (fifth). Five of the causes that were in the top ten for ages 10–24 years were also in the top ten in the 25–49-year age group: road injuries (ranked first), HIV/AIDS (second), low back pain (fourth), headache disorders (fifth), and depressive disorders (sixth). In 2019, ischaemic heart disease and stroke were the top-ranked causes of DALYs in both the 50–74-year and 75-years-and-older age groups. Since 1990, there has been a marked shift towards a greater proportion of burden due to YLDs from non-communicable diseases and injuries. In 2019, there were 11 countries where non-communicable disease and injury YLDs constituted more than half of all disease burden. Decreases in age-standardised DALY rates have accelerated over the past decade in countries at the lower end of the SDI range, while improvements have started to stagnate or even reverse in countries with higher SDI. Interpretation: As disability becomes an increasingly large component of disease burden and a larger component of health expenditure, greater research and developm nt investment is needed to identify new, more effective intervention strategies. With a rapidly ageing global population, the demands on health services to deal with disabling outcomes, which increase with age, will require policy makers to anticipate these changes. The mix of universal and more geographically specific influences on health reinforces the need for regular reporting on population health in detail and by underlying cause to help decision makers to identify success stories of disease control to emulate, as well as opportunities to improve. Funding: Bill & Melinda Gates Foundation. © 2020 The Author(s). Published by Elsevier Ltd. This is an Open Access article under the CC BY 4.0 licens

NEURAL CREST DERIVED ECTOMESENCHYMAL STEM CELLS FOR CRANIOFACIAL REGENRATION

Ph.DDOCTOR OF PHILOSOPHY (FOE

Determination of bioaccessibility of β-carotene in vegetables by in vitro methods

Abstract The in vitro method in use for the determination of β-carotene bioaccessibility involves simulated gastrointestinal digestion followed by ultracentrifugation to separate the micellar fraction containing bioaccessible β-carotene and its quantitation. In this study, the suitability of two alternatives viz., membrane filtration and equilibrium dialysis were examined to separate the micellar fraction. Values of β-carotene bioaccessibility obtained with the membrane filtration method were similar to those obtained by the ultracentrifugation method. Equilibrium dialysis was found not suitable for this purpose. Among the vegetables analyzed, fenugreek leaves had the highest content of β-carotene (9.15 mg/100 g), followed by amaranth (8.17 mg/100 g), carrot (8.14 mg/100 g) and pumpkin (1.90 mg/100 g). Percent bioaccessibility of β-carotene ranged from 6.7 in fenugreek leaves to 20.3 in carrot. Heat treatment of these vegetables by pressure cooking and stir-frying had a beneficial influence on the bioaccessibility of β-carotene from these vegetables. The increase in the percent bioaccessibility of β-carotene as a result of pressure-cooking was 100, 48 and 19% for fenugreek leaves, amaranth and carrot, respectively. Stir-frying in presence of a small quantity of oil led to an enormous increase in the bioaccessibility of β-carotene from these vegetables, the increase being 263% (fenugreek leaves), 192% (amaranth leaves), 63% (carrot) and 53% (pumpkin)

Bio-mimicking shear stress environments for enhancing mesenchymal stem cell differentiation

Mesenchymal stem cells (MSCs) are multipotent stromal cells, with the ability to differenti-ate into mesodermal (e.g., adipocyte, chondrocyte, hematopoietic, myocyte, osteoblast), ectodermal (e.g., epithelial, neural) and endodermal (e.g., hepatocyte, islet cell) lineages based on the type of induction cues provided. As compared to embryonic stem cells, MSCs hold a multitude of advantages from a clinical translation perspective, including ease of isolation, low immunogenicity and limited ethical concerns. Therefore, MSCs are a promising stem cell source for different regenerative medicine applications. The in vitro differentiation of MSCs into different lineages relies on effective mimicking of the in vivo milieu, including both biochemical and mechanical stimuli. As compared to other bio-physical cues, such as substrate stiffness and topography, the role of fluid shear stress (SS) in regulating MSC differentiation has been investigated to a lesser extent although the role of interstitial fluid and vascular flow in regulating the normal physiology of bone, muscle and cardiovascular tissues is well-known. This review aims to summarise the current state-of-the-art regarding the role of SS in the differentiation of MSCs into osteogenic, cardiovascular, chondrogenic, adipogenic and neurogenic lineages. We will also highlight and discuss the potential of employing SS to augment the differentiation of MSCs to other lineages, where SS is known to play a role physiologically but has not yet been successfully harnessed for in vitro differentiation, including liver, kidney and corneal tissue lineage cells. The incorporation of SS, in combination with biochemical and biophysical cues during MSC differentiation, may provide a promising avenue to improve the functionality of the differentiated cells by more closely mimicking the in vivo milieu.</p

Induced pluripotent stem cells-derived craniofacial mesenchymal progenitor cells

The neural crest is a multipotent stem cell population in the developing embryo that plays an important role in the development of the craniofacial region. Craniofacial-specific mesenchymal progenitor cells (MPCs) have been isolated from human pluripotent stem cells (hPSCs) in vitro through a neural crest differentiation pathway, enabling the study of craniofacial development and disease in vitro. In this chapter, we review the protocols developed to derive neural crest cells (NCCs) and neural crest–derived MPCs from hPSCs in vitro and discuss the characteristics and applications of NCC-derived craniofacial mesenchymal progenitor cells (NCC-MPCs). NCC-MPCs show typical MPC traits such as surface marker expression and trilineage differentiation potential, but also distinctive phenotype and function reflecting their embryonic origin such as differential gene expression, low adipogenesis, and the capability for odontogenesis. NCC-MPCs have been useful in the modeling of neural crest–related disease development and have shown promise for use as a stem cell source in tissue regeneration. New avenues of research are required to enable the application of NCC-MPCs in therapeutic applications, including the discovery of specific markers for the selection of MPCs and an improved mechanistic understanding of MPC therapeutic action

Substrates and surfaces for control of pluripotent stem cell fate and function

Pluripotent stem cells (PSCs) provide unique opportunities for understanding basic biology, for developing tissue models for drug testing, and for clinical applications in regenerative medicine. These require the development of robust platforms and protocols for maintenance of their self-renewal as well as for differentiation to a specific cell fate. Cell fate and functions are influenced by components of the surrounding microenvironment, including soluble factors, extracellular matrix (ECM), cell-cell and cell-matrix interactions, and mechanical forces. Various culture substrates and surfaces based on feeder cells, decellularized matrices, ECM proteins, and cell adhesion molecules have been reported, with profound effects on proliferation and differentiation of stem cells. Synthetic substrates, based on peptides and polymers, have also emerged as alternative platforms to provide a chemically defined and xeno-free culture system for expansion and long-term maintenance of stem cells. These advances in surface engineering will continue to grow and guide the development of processes for stem cell application

A Local Optimization Framework for Multi-Objective Ergodic Search

Robots have the potential to perform search for a variety of applications under different scenarios. Our work is motivated by humanitarian assistant and disaster relief (HADR) where often it is critical to find signs of life in the presence of conflicting criteria, objectives, and information. We believe ergodic search can provide a framework for exploiting available information as well as exploring for new information for applications such as HADR, especially when time is of the essence. Ergodic search algorithms plan trajectories such that the time spent in a region is proportional to the amount of information in that region, and is able to naturally balance exploitation (myopically searching high-information areas) and exploration (visiting all locations in the search space for new information). Existing ergodic search algorithms, as well as other information-based approaches, typically consider search using only a single information map. However, in many scenarios, the use of multiple information maps that encode different types of relevant information is common. Ergodic search methods currently do not possess the ability for simultaneous nor do they have a way to balance which information gets priority. This leads us to formulate a Multi-Objective Ergodic Search (MOES) problem, which aims at finding the so-called Pareto-optimal solutions, for the purpose of providing human decision makers various solutions that trade off between conflicting criteria. To efficiently solve MOES, we develop a framework called Sequential Local Ergodic Search (SLES) that converts a MOES problem into a "weight space coverage" problem. It leverages the recent advances in ergodic search methods as well as the idea of local optimization to efficiently approximate the Pareto-optimal front. Our numerical results show that SLES runs distinctly faster than the baseline methods.Comment: Robotics: Science and Systems 202

Acrylated epoxidized soybean oil/hydroxyapatite-based nanocomposite scaffolds prepared by additive manufacturing for bone tissue engineering

The mechanical properties and biocompatibility of nanocomposites composed of Acrylated Epoxidized Soybean Oil (AESO), nano-Hydroxyapatite (nHA) rods and either 2-Hydroxyethyl Acrylate (HEA) or Polyethylene Glycol Diacrylate (PEGDA) and 3D printed using extrusion-based additive manufacturing methods were investigated. The effects of addition of HEA or PEGDA on the rheological, mechanical properties and cell-biomaterial interactions were studied. AESO, PEGDA (or HEA), and nHA were composited using an ultrasonic homogenizer and scaffolds were 3D printed using a metal syringe on an extrusion-based 3D printer while simultaneously UV cured during layer-by-layer deposition. Nanocomposite inks were characterized for their viscosity before curing, and dispersion of the nHA particles and tensile mechanical properties after curing. Proliferation and differentiation of human bone marrow-derived mesenchymal stem cells (BM-MSCs) were studied by seeding cells onto the scaffolds and culturing in osteogenic differentiation medium for 7, 14 and 21 days. Overall, each of the scaffolds types demonstrated controlled morphology resulting from the printability of nanocomposite inks, well-dispersed nHA particles within the polymer matrices, and were shown to support cell proliferation and osteogenic differentiation after 14 and 21 days of culture. However, the nature of the functional groups present in each ink detectably affected the mechanical properties and cytocompatibility of the scaffolds. For example, while the incorporation of HEA reduced nHA dispersion and tensile strength of the final nanocomposite, it successfully enhanced shear yield strength, and printability, as well as cell adhesion, proliferation and osteogenic differentiation, establishing a positive effect perhaps due to additional hydrogen bonding.</p