Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots

Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments

Gut mycobiome dysbiosis contributes to the development of hypertension and its response to immunoglobulin light chains

ObjectivesHuman gut microbiome has gained great attention for its proposed roles in the development of hypertension. The fungal microbiome in the human gut (i.e. the mycobiome) is beginning to gain recognition as a fundamental part of our microbiome. However, the existing knowledge of human mycobiome has never revealed the association between gut mycobiome and hypertension. It is known that inflammation and immunity contribute to human hypertension. Here, we sought to investigate whether gut mycobiome could predict the development of hypertension and its association with immunoglobulin light chains.Methods and materialsParticipants were classified into three cohorts: prehypertension (pre-HTN), hypertension (HTN), and normal-tension (NT) based on their blood pressure. Fresh samples were collected, and the ITS transcribed spacer ribosomal RNA gene sequence was performed. An immunoturbidimetric test was used to examine the serum levels of immunological light chains.ResultsSubjects in both of the states of pre-HTN and HTN had different fungal microbiome community compared to the NT group (FDR<0.05). Slightly higher levels of fungal richness and diversity were observed in the groups of pre-HTN and HTN. The relative abundance of Malassezia increased in the HTN group compared to that in the NT group, and the relative abundance of Mortierella enriched in the NT group. For the pre-HTN group, the relative abundance of Malassezia was positively associated with serum the concentration of light chain (LC) κ (r=0.510, P=0.044); for the HTN group, the relative abundance of Mortierella was positively associated with the serum concentration of LC κ (P<0.05), the relative abundance of Malassezia was positively associated with both the serum concentrations of LC κ and LC λ (r>0.30, P<0.05).ConclusionsOur present study demonstrated that gut fungal dysbiosis occurred in the state of prehypertension, and fungal dysbiosis can predict the dysregulation of serum light chains in hypertension patients. Further study on modulating gut fungal community should be focused on balancing the immunological features in hypertension

Asymptomatic Polyvascular Abnormalities in Community (APAC) Study in China: Objectives, Design and Baseline Characteristics

Objective: The population-based “Asymptomatic Polyvascular Abnormalities in Community (APAC) Study was designed to examine prevalence and associations of asymptomatic polyvascular abnormalities (APA) in a general population. In this report, the objectives, design and baseline data of the APAC study are described. Methods: The study included 5,440 participants (40.1% women) with an age of 40+ years who were randomly selected from the population of the Kailuan Study which included 101,510 employees and retirees of the Kailuan Co. Ltd, a large coal mine industry located in Tangshan, Hebei, China. Exclusion criteria were previous cerebral stroke, transient ischemic attacks and coronary heart disease. In 2010 and 2011, information on potential cardiovascular risk factors was collected and all participants underwent transcranial Doppler sonography, measurement of the ankle brachial index, and bilateral carotid duplex sonography. In a first follow-up examination in 2012/2013, retinal photography and spectral-domain optical coherence tomography were additionally performed. In a planned long-term follow-up, data from clinical examinations and laboratory tests and the occurrence of cardiovascular or cerebrovascular events will be collected to build up a predicting model for the risk of ischemic events. Results: At baseline, mean age of the participants was 55.2±11.8 years, and men showed a significantly (P<0.001) higher prevalence of arterial hypertension (55.5% vs. 36.5%) and hyperlipidemia (50.7% vs. 46.0%) and a higher blood homocysteine concentration (18.68±10.28µmol/L versus 11.69±6.40µmol/L). Conclusions: The APAC is the first study to prospectively evaluate the relationship between intracranial arterial stenosis, retinal nerve fiber layer changes, retinal microvascular signs, and the eventual development of cerebrovascular or cardiovascular events

Which institutions matter to short-term market efficiency in Japan?

Recent work suggests that institutional investors play an important role in short-term market efficiency. This study provides new evidence for the prevalence of this efficiency-enhancing effect by categorizing institutions into different types: foreign institutions, financial institutions, securities companies, government and regional public authorities, and other institutions. Looking at the Japanese market, we find that the presence of institutional investors, financial institutions in particular, improves the information environment. With respect to foreign institutions, this efficiency-enhancing effect is most clearly seen in trading costs and order imbalances. Robustness checks confirm that our findings are not driven by the endogeneity and time variation of ownership structure.Market efficiency Institutional ownership Japan

A Max-Flow Based Algorithm for Connected Target Coverage with Probabilistic Sensors

Coverage is a fundamental issue in the research field of wireless sensor networks (WSNs). Connected target coverage discusses the sensor placement to guarantee the needs of both coverage and connectivity. Existing works largely leverage on the Boolean disk model, which is only a coarse approximation to the practical sensing model. In this paper, we focus on the connected target coverage issue based on the probabilistic sensing model, which can characterize the quality of coverage more accurately. In the probabilistic sensing model, sensors are only be able to detect a target with certain probability. We study the collaborative detection probability of target under multiple sensors. Armed with the analysis of collaborative detection probability, we further formulate the minimum ϵ-connected target coverage problem, aiming to minimize the number of sensors satisfying the requirements of both coverage and connectivity. We map it into a flow graph and present an approximation algorithm called the minimum vertices maximum flow algorithm (MVMFA) with provable time complex and approximation ratios. To evaluate our design, we analyze the performance of MVMFA theoretically and also conduct extensive simulation studies to demonstrate the effectiveness of our proposed algorithm

3D Graphene-Nitrogen Doped Carbon Nanotubes Network Modified Electrode as Sensing Materials for the Determination of Urapidil

In this work, a three dimensional (3D) graphene-nitrogen doped carbon nanotubes (G-NCNTs) network was successfully fabricated on the surface of a glassy carbon (GC) electrode using the pulse potential method (PPM) in a graphene oxide-nitrogen doped carbon nanotubes (GO-NCNTs) dispersion. The morphological and characteristics of GO-NCNTs and G-NCNTs nanocomposites were investigated by atomic force microscopy (AFM), scanning electron microscopy (SEM), UV-vis spectroscopy, Raman spectroscopy, and electrochemical experiments. The 3DG-NCNTs network was applied as a new voltammetric material for the fabrication of an electrochemical platform for determination of urapidil. Systematic electrochemical tests demonstrate that the 3DG-NCNTs network modified GC electrode can effectively increase the response to the oxidation of urapidil. Under the optimum conditions, the electrochemical response was linear with urapidil concentrations in the range of 1.0 × 10−8~2.0 × 10−6 mol·L−1, while a low detection limit of 5.0 × 10−9 mol·L−1 was obtained for urapidil. Moreover, the proposed sensing platform exhibited good results for sensitivity, reproducibility, selectivity, and stability, which makes it very suitable for use as an ideal inexpensive and rapid analytical method applicable for complex drug matrices

Interferon-Induced Protein 6-16 (IFI6-16) from Litopenaeus vannamei Regulate Antiviral Immunity via Apoptosis-Related Genes

A growing number of evidence shows that some invertebrates possess an antiviral immunity parallel to the interferon (IFN) system of higher vertebrates. For example, the IRF (interferon regulatory factor)&ndash;Vago&ndash;JAK/STAT regulatory axis in an arthropod, shrimp Litopenaeus vannamei (whiteleg shrimp) is functionally similar to the IRF&ndash;IFN&ndash;JAK/STAT axis of mammals. IFNs perform their cellular immunity by regulating the expression of target genes collectively referred to as IFN-stimulated genes (ISGs). However, the function of invertebrate ISGs in immune responses is almost completely unclear. In this study, a potential ISG gene homologous to the interferon-induced protein 6-16 (IFI6-16) was cloned and identified from L. vannamei, designated as LvIFI6-16. LvIFI6-16 contained a putative signal peptide in the N-terminal, and a classic IFI6-16-superfamily domain in the C-terminal that showed high conservation to other homologs in various species. The mRNA levels of LvIFI6-16 were significantly upregulated after the stimulation of poly (I:C) and challenges of white spot syndrome virus (WSSV). Moreover, silencing of LvIFI6-16 caused a higher mortality rate and heightened virus loads, suggesting that LvIFI6-16 could play a crucial role in defense against WSSV. Interestingly, we found that the transcription levels of several caspases were regulated by LvIFI6-16; meanwhile, the transcription level of LvIFI6-16 self was regulated by the JAK/STAT cascade, suggesting there could be a JAK/STAT&ndash;IFI6-16&ndash;caspase regulatory axis in shrimp. Taken together, we identified a crustacean IFI6-16 gene (LvIFI6-16) for the first time, and provided evidence that the IFI6-16 participated in antiviral immunity in shrimp