Decentralized multirobot systems

To expand the capabilities of the robotic system, it is advisable to use a group of robots, rather than a single robot. The article discusses decentralized control strategies for multirobot systems. The article presents the basic principles and functioning algorithms for collective, flock, and swarm control

Dynamic obstacle avoidance for mobile robots

The article analyzes an algorithm for detecting dynamic obstacles, which is based on a histogram of oriented gradients and a support vector machine. The algorithm can be applied in various autonomous mobile robots

Метод локализации Монте-Карло для мобильного робота

In many cases, to solve applied problems, the robot needs to know its real location

Methods for robot localization on a map

In many cases, to solve applied problems, the robot needs to know its real location, which is most often different from the data stored in the on-board system. For unmanned robotic devices, as well as for ground-based robots, it is most efficient to use local navigation algorithms, which consist in determining the coordinates of the device with respect to a certain starting point. The paper discusses localization algorithms provided that the map of the area is known in advance. Particular attention is paid to the Monte Carlo localization method because of several advantages. The paper presents an example of modeling the algorithm operation

Adaptive fuzzy neural production network with MIMO-structure for the evaluation of technology efficiency

The paper presents an example of modeling the algorithm operation. The paper analyses the modified Wang and Mendel MIMO-architecture of the adaptive fuzzy neural production network with a logical conclusion. It is distinguished by the automatic generation of a set of fuzzy rules based on a fuzzy decision tree and a hybrid algorithm for parameter adaptation by the neural network (centers, widths of membership functions, and conclusions) starting from the leaf nodes to the root nodes of the tree

Adaptive neuro-fuzzy classifier for evaluating the technology effectiveness based on the modified Wang and Mendel fuzzy neural production MIMO-network

The paper describes practical results gained during synthesis of the classification model for estimating technology effectiveness when solving multi-criteria problems of expert data analysis (Foresight) aimed to identify technological breakthroughs and strategic perspectives of scientific, technological and innovative developmen

Developing operation algorithms for vision subsystems in autonomous mobile robots

The paper analyzes algorithms for selecting keypoints on the image for the subsequent automatic detection of people and obstacles. The algorithm is based on the histogram of oriented gradients and the support vector method. The combination of these methods allows successful selection of dynamic and static objects. The algorithm can be applied in various autonomous mobile robots

Developing operation algorithms for vision subsystems in autonomous mobile robots

The paper analyzes algorithms for selecting keypoints on the image for the subsequent automatic detection of people and obstacles. The algorithm is based on the histogram of oriented gradients and the support vector method. The combination of these methods allows successful selection of dynamic and static objects. The algorithm can be applied in various autonomous mobile robots

O-GlcNAc Modification of NFκB p65 Inhibits TNF-α-Induced Inflammatory Mediator Expression in Rat Aortic Smooth Muscle Cells

BACKGROUND: We have shown that glucosamine (GlcN) or O-(2-acetamido-2-deoxy-D-glucopyranosylidene)amino-N-phenylcarbamate (PUGNAc) treatment augments O-linked-N-acetylglucosamine (O-GlcNAc) protein modification and attenuates inflammatory mediator expression, leukocyte infiltration and neointima formation in balloon injured rat carotid arteries and have identified the arterial smooth muscle cell (SMC) as the target cell in the injury response. NFκB signaling has been shown to mediate the expression of inflammatory genes and neointima formation in injured arteries. Phosphorylation of the p65 subunit of NFκB is required for the transcriptional activation of NFκB. This study tested the hypothesis that GlcN or PUGNAc treatment protects vascular SMCs against tumor necrosis factor (TNF)-α induced inflammatory stress by enhancing O-GlcNAcylation and inhibiting TNF-α induced phosphorylation of NFκB p65, thus inhibiting NFκB signaling. METHODOLOGY/PRINCIPAL FINDINGS: Quiescent rat aortic SMCs were pretreated with GlcN (5 mM), PUGNAc (10(-4) M) or vehicle and then stimulated with TNF-α (10 ng/ml). Both treatments inhibited TNF-α-induced expression of chemokines [cytokine-induced neutrophil chemoattractant (CINC)-2β and monocyte chemotactic protein (MCP)-1] and adhesion molecules [vascular cell adhesion molecule (VCAM)-1 and P-Selectin]. Both treatments inhibited TNF-α induced NFκB p65 activation and promoter activity, increased NFκB p65 O-GlcNAcylation and inhibited NFκB p65 phosphorylation at Serine 536, thus promoting IκBα binding to NFκB p65. CONCLUSIONS: There is a reciprocal relationship between O-GlcNAcylation and phosphorylation of NFκB p65, such that increased NFκB p65 O-GlcNAc modification inhibits TNF-α-Induced expression of inflammatory mediators through inhibition of NFκB p65 signaling. These findings provide a mechanistic basis for our previous observations that GlcN and PUGNAc treatments inhibit inflammation and remodeling induced by acute endoluminal arterial injury

New developments in osteoarthritis. Posttraumatic osteoarthritis: pathogenesis and pharmacological treatment options

Joint trauma can lead to a spectrum of acute lesions, including osteochondral fractures, ligament or meniscus tears and damage to the articular cartilage. This is often associated with intraarticular bleeding and causes posttraumatic joint inflammation. Although the acute symptoms resolve and some of the lesions can be surgically repaired, joint injury triggers a chronic remodeling process in cartilage and other joint tissues that ultimately manifests as osteoarthritis in a majority of cases. The objective of the present review is to summarize information on pathogenetic mechanisms involved in the acute and chronic consequences of joint trauma and discuss potential pharmacological interventions. The focus of the review is on the early events that follow joint trauma since therapies for posttraumatic joint inflammation are not available and this represents a unique window of opportunity to limit chronic consequences