Accelerated K-Serial Stable Coalition for Dynamic Capture and Resource Defense

Coalition is an important mean of multi-robot systems to collaborate on common tasks. An effective and adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense by large-scale heterogeneous robotic teams is considered. The tasks include exploration, capture of dynamic targets, and perimeter defense over valuable resources. Since each robot can choose among many tasks, it remains a challenging problem to coordinate jointly these robots such that the overall utility is maximized. This work proposes a generic coalition strategy called K-serial stable coalition algorithm (KS-COAL). Different from centralized approaches, it is distributed and complete, meaning that only local communication is required and a K-serial Stable solution is ensured. Furthermore, to accelerate adaptation to dynamic targets and resource distribution that are only perceived online, a heterogeneous graph attention network (HGAN)-based heuristic is learned to select more appropriate parameters and promising initial solutions during local optimization. Compared with manual heuristics or end-to-end predictors, it is shown to both improve online adaptability and retain the quality guarantee. The proposed methods are validated rigorously via large-scale simulations with 170 robots and hardware experiments of 13 robots, against several strong baselines including GreedyNE and FastMaxSum.Comment: 8 pages, 10 figures, 1 tabl

Development of a Respirable Dust Mitigation System for a High Longwall Face at Sihe Colliery in China â a Case Study

Dust is a major hazard in underground coal mines that threatens the work health and safety of coal miners. The dust issue becomes increasingly significant with the development of highly mechanized coal mining. This issue is particularly serious at the high longwall faces of the Sihe colliery in China as the concentration of dust, in particular respirable dust, at these faces far exceeds the regulatory dust limits. Field testing and computational fluid dynamics (CFD) simulations were conducted to understand the sources of dust generation and its dynamic movement in the #5301 longwall face of high-cutting height at the colliery. The investigation results showed that shearer generated dust was minimal during the coal cutting operation; that face spalling and chock movement were the main dust generating sources, causing significant contamination to the walkway; and that the majority of dust particles from the face (regardless of source) eventually disperse into the main gate, where the dust concentration was greater than 500 mg/m3. These findings were used to develop an effective coal dust mitigation system involving the installation of dust scrubbers, curtains, and venture and crescent sprays. The results of CFD modeling indicate that the dust concentration could be significantly reduced by adopting the new dust mitigation system

Grandet: A Unified, Economical Object Store for Web Applications

Web applications are getting ubiquitous every day because they offer many useful services to consumers and businesses. Many of these web applications are quite storage-intensive. Cloud computing offers attractive and economical choices for meeting their storage needs. Unfortunately, it remains challenging for developers to best leverage them to minimize cost. This paper presents Grandet, a storage system that greatly reduces storage cost for web applications deployed in the cloud. Grandet provides both a key-value interface and a file system interface, supporting a broad spectrum of web applications. Under the hood, it supports multiple heterogeneous stores, and unifies them by placing each data object at the store deemed most economical. We implemented Grandet on Amazon Web Services and evaluated Grandet on a diverse set of four popular open-source web applications. Our results show that Grandet reduces their cost by an average of 42.4%, and it is fast, scalable, and easy to use. The source code of Grandet is at http://columbia.github.io/grandet

Development of a Respirable Dust Mitigation System for a High Longwall Face at Sihe Colliery in China – a Case Study

Dust is a major hazard in underground coal mines that threatens the work health and safety of coal miners. The dust issue becomes increasingly significant with the development of highly mechanized coal mining. This issue is particularly serious at the high longwall faces of the Sihe colliery in China as the concentration of dust, in particular respirable dust, at these faces far exceeds the regulatory dust limits. Field testing and computational fluid dynamics (CFD) simulations were conducted to understand the sources of dust generation and its dynamic movement in the #5301 longwall face of high-cutting height at the colliery. The investigation results showed that shearer generated dust was minimal during the coal cutting operation; that face spalling and chock movement were the main dust generating sources, causing significant contamination to the walkway; and that the majority of dust particles from the face (regardless of source) eventually disperse into the main gate, where the dust concentration was greater than 500 mg/m3. These findings were used to develop an effective coal dust mitigation system involving the installation of dust scrubbers, curtains, and venture and crescent sprays. The results of CFD modeling indicate that the dust concentration could be significantly reduced by adopting the new dust mitigation system

Formiranje produkata Maillardove reakcije u odležanom octu od sirka i zaštitni učinak melanoidina iz octa na jetru štakora oštećenu tetraklormetanom

Research background. The processing method generally affects the toxicity and biological activity of aged sorghum vinegar. This study investigates the changes in the intermediate Maillard reaction products of sorghum vinegar during ageing and the in vivo hepatoprotective effects of pure melanoidin obtained from it. Experimental approach. High-performance liquid chromatography (HPLC) and fluorescence spectrophotometry were utilized to quantify intermediate Maillard reaction products. The CCl4-induced liver damage in rats was used to evaluate the protective role of pure melanoidin in rat liver. Results and conclusions. Compared with the initial concentration, the 18-month ageing process caused a 1.2- to 3.3-fold increase in the concentrations of intermediate Maillard reaction products, i.e. 5-hydroxymethylfurfural (HMF), 5-methylfurfural (MF), methyglyoxal (MGO), glyoxal (GO) and advanced glycation end products (AGEs). The concentrations of HMF in the aged sorghum vinegar were 6.1-fold higher than the 450 μM limit standard for honey, implying the need for shortening the ageing of the vinegar in practice for safety concerns. Pure melanoidin (Mr>3.5 kDa) demonstrated significant protective effects against CCl4-induced rat liver damage, as evidenced by normalized serum biochemical parameters (transaminases and total bilirubin), suppressing hepatic lipid peroxidation and reactive oxygen species, as well as increasing glutathione amount and restoring antioxidant enzyme activities. Histopathological analysis revealed that melanoidin in vinegar reduced cell infiltration and vacuolar hepatocyte necrosis in rat liver. The findings demonstrated that a shortened ageing process should be considered in practice to ensure the safety of aged sorghum vinegar. Vinegar melanoidin is a potential alternative for the prevention of hepatic oxidative damage. Novelty and scientific contribution. This study demonstrates that the manufacturing process had a profound influence on the generation of vinegar intermediate Maillard reaction products. In particular, it revealed the in vivo hepatoprotective effect of pure melanoidin from aged sorghum vinegar, and provides insight into the in vivo biological activity of melanoidin.Pozadina istraživanja. Postupak pripreme često utječe na toksičnost i biološku aktivnost odležanog octa od sirka. U ovom su radu ispitane promjene u međuproduktima Maillardove reakcije u octu od sirka tijekom starenja, te in vivo hepatoprotektivni učinak čistog melanoidina izdvojenog iz dobivenog octa. Eksperimentalni pristup. Međuprodukti Maillardove reakcije određeni su visokodjelotvornom tekućinskom kromatografijom i fluorescencijskom spektrofotometrijom. Hepatoprotektivno djelovanje čistog melanoidina ispitano je na jetri šakora oštećenoj tetraklormetanom. Rezultati i zaključci. U usporedbi s početnom koncentracijom, koncentracija međuprodukata Maillardove reakcije u octu odležanom tijekom 18 mjeseci, i to 5-hidroksimetilfurfurala (HMF), 5-metilfurfurala (MF), metilglioksala (MGO), glioksala (GO) i konačnih produkata glikacije (engl. AGEs), porasla je za 1,2 do 3,3 puta. Koncentracija HMF-a u odležanom octu od sirka bila je 6,1 puta veća od dozvoljene granice od 450 μM u medu kao standardu, što znači da je u praksi potrebno skratiti vrijeme odležavanja octa radi postizanja sigurnosti njegove uporabe za potrošače. Čisti melanoidin (Mr>3,5 kDa) je učinkovito štitio jetru štakora od oštećenja izazvanih tetraklormetanom, što su potvrdili normalizirani biokemijski parametri seruma (aktivnost transaminaze i koncentracija ukupnih bilirubina), smanjena lipidna peroksidacija u jetri i manja količina reaktivnih spojeva kisika, te veća količina glutationa uz obnovljenu aktivnost enzima. Histopatološka analiza je pokazala da je melanoidin u octu smanjio staničnu infiltraciju i nekrozu hepatocita u jetri štakora. Rezultati pokazuju da bi u praksi trebalo razmotriti skraćeno vrijeme odležavanja octa od sirka, da bi on bio siguran za primjenu. Melanoidin iz octa može se koristiti umjesto lijekova za zaštitu jetre od oksidacijskog oštećenja. Novina i znanstveni doprinos. U radu je prikazano da postupak proizvodnje bitno utječe na stvaranje međuprodukata Maillardove reakcije u octu. Poglavito je prikazan in vivo hepatoprotektivni učinak čistog melanoidina iz odležanog octa od sirka, te je dan uvid u in vivo biološku aktivnost melanoidina

Novel insights into circular RNAs in clinical application of carcinomas

Circular RNAs (circRNAs), formed by nonsequential back-splicing of pre-messenger RNA (pre-mRNA) transcripts, have been widely concerned in recent years. With advances in high-throughput RNA sequencing (RNA-seq) technology, previous work has revealed that a large number of circRNAs, which are endogenous, abundant and stable in mammalian cells, may be involved in atherosclerotic vascular disease risk, neurological disorders, prion diseases and carcinomas. Remarkably, interaction between circRNAs and microRNA has already been observed to perform a significant role in a variety of cancers, including gastric cancer and colorectal cancer. Recent work has suggested that circRNAs may play critical roles in the initiation and development of cancers and could become potential new biomarkers for cancers. Herein, we review the current understanding of the roles of circRNAs in cancers and the potential implications of circRNAs in cancer-targeted therapy