Flexible Execution of Plans with Choice

Dynamic plan execution strategies allow an autonomous agent to respond to uncertainties while improving robustness and reducing the need for an overly conservative plan. Executives have improved this robustness by expanding the types of choices made dynamically, such as selecting alternate methods. However, in methods to date, these additional choices introduce substantial run-time latency. This paper presents a novel system called Drake that makes steps towards executing an expanded set of choices dynamically without significant latency. Drake frames a plan as a Disjunctive Temporal Problem and executes it with a fast dynamic scheduling algorithm. Prior work demonstrated an efficient technique for dynamic execution of one special type of DTPs by using an off-line compilation step to find the possible consistent choices and compactly record the differences between them. Drake extends this work to handle a more general set of choices by recording the minimal differences between the solutions which are required at run-time. On randomly generated structured plans with choice, we show a reduction in the size of the solution set of over two orders of magnitude, compared to prior art

Fast Distributed Multi-agent Plan Execution with Dynamic Task Assignment and Scheduling

An essential quality of a good partner is her responsiveness to other team members. Recent work in dynamic plan execution exhibits elements of this quality through the ability to adapt to the temporal uncertainties of others agents and the environment. However, a good teammate also has the ability to adapt on-the-fly through task assignment. We generalize the framework of dynamic execution to perform plan execution with dynamic task assignment as well as scheduling. This paper introduces Chaski, a multi-agent executive for scheduling temporal plans with online task assignment. Chaski enables an agent to dynamically update its plan in response to disturbances in task assignment and the schedule of other agents. The agent then uses the updated plan to choose, schedule and execute actions that are guaranteed to be temporally consistent and logically valid within the multi-agent plan. Chaski is made efficient through an incremental algorithm that compactly encodes all scheduling policies for all possible task assignments. We apply Chaski to perform multi-manipulator coordination using two Barrett Arms within the authors' hardware testbed. We empirically demonstrate up to one order of magnitude improvements in execution latency and solution compactness compared to prior art

An Innovative Approach for Community Engagement: Using an Audience Response System

Community-based participatory research methods allow for community engagement in the effort to reduce cancer health disparities. Community engagement involves health professionals becoming a part of the community in order to build trust, learn from the community and empower them to reduce disparities through their own initiatives and ideas. Audience Response Systems (ARS) are an innovative and engaging way to involve the community and obtain data for research purposes using keypads to report results via power point. The use of ARS within communities is very limited and serves to widen the disparity gap by not delivering new advances in medical knowledge and technology among all population groups. ARS was implemented at a community town hall event sponsored by a National Institute on Minority Health and Health Disparities Exploratory Center of Excellence, the Center for Equal Health. Participants appreciated being able to see how everyone else answered and felt included in the research process. ARS is beneficial because the community can answer truthfully and provides instant research results. Additionally, researchers can collect large amounts of data quickly, in a non-threatening way while tracking individual responses anonymously. Audience Response Systems proved to be an effective tool for successfully accomplishing community-based participatory research

The University of New Hampshire Engaged Scholars Academy: Instilling in Faculty Principles of Effective Partnership

Over the last decade, the University of New Hampshire (UNH) has promoted mutually beneficial partnerships between faculty and community partners vis-à-vis the Engaged Scholars Academy (ESA), a faculty development program aimed at enhancing faculty understanding of the principles of partnership and engaged scholarship. This research seeks to determine whether and how the ESA has impacted faculty-community partnerships around engaged scholarship. Findings suggest that Engaged Scholar Academy participants – as compared to non-participants – have a deeper understanding of the principles of partnership, are more likely to feel their scholarship is enhanced, spend more time with partners, engage their partners throughout the process of inquiry, and focus more on sustaining partnership outcomes

Potential health effects of Champagne wine consumption

Epidemiological studies have suggested an inverse correlation between red wine consumption and the incidence of cardiovascular and neurodegenerative disorders. Although white wines are generally low in polyphenol content as compared to red wines, champagne has been shown to contain relatively high amounts of phenolic acids that may exert protective cellular actions in vivo. In this study, we have investigated the potential cardioprotective and neuroprotective effects of champagne. Our data suggest that a daily moderate consumption of champagne may improve vascular performance via the delivery of phenolic constituents capable of improving NO bioavailability and the modulation of metalloproteinase. Moreover, champagne intervention significantly increased spatial working memory in aged animals, whilst no improvement was observed in the presence of alcohol. Together, these data indicate that polyphenols present in champagne may induce cardioprotective and neuroprotective effects, delaying the onset of degenerative disorders

Results of the 1985 Excavations at Shiplap House (18AP30), 18 Pinkney Street, Annapolis, Maryland

The Shiplap House, 18AP30, located at 18 Pinkney Street, Annapolis, Maryland, was built ca. 1716. Located within the Historic District of Annapolis, Maryland (see Figures 2, 3, & 4 for site location within the Annapolis Historic District), the Shiplap House lies in immediate proximity to features of local and national importance. Due to its potential as a significant archaeological site, the Shiplap property was selected as one of the locations to be investigated during the 1985 summer Fieldschool in Urban Archaeology, a course offerred by the University of Maryland, College Park, under the direction of Dr. Mark P. Leone

Trading water for carbon in the future : effects of elevated CO2 and warming on leaf hydraulic traits in a semiarid grassland

The effects of climate change on plants and ecosystems are mediated by plant hydraulic traits, including interspecific and intraspecific variability of trait phenotypes. Yet, integrative and realistic studies of hydraulic traits and climate change are rare. In a semiarid grassland, we assessed the response of several plant hydraulic traits to elevated CO2 (+200 ppm) and warming (+1.5 to 3°C; day to night). For leaves of five dominant species (three graminoids and two forbs), and in replicated plots exposed to 7 years of elevated CO2, warming, or ambient climate, we measured: stomatal density and size, xylem vessel size, turgor loss point, and water potential (pre-dawn). Interspecific differences in hydraulic traits were larger than intraspecific shifts induced by elevated CO2 and/or warming. Effects of elevated CO2 were greater than effects of warming, and interactions between treatments were weak or not detected. The forbs showed little phenotypic plasticity. The graminoids had leaf water potentials and turgor loss points that were 10% to 50% less negative under elevated CO2; thus, climate change might cause these species to adjust their drought resistance strategy away from tolerance and toward avoidance. The C4 grass also reduced allocation of leaf area to stomata under elevated CO2, which helps explain observations of higher soil moisture. The shifts in hydraulic traits under elevated CO2 were not, however, simply due to higher soil moisture. Integration of our results with others' indicates that common species in this grassland are more likely to adjust stomatal aperture in response to near-term climate change, rather than anatomical traits; this contrasts with apparent effects of changing CO2 on plant anatomy over evolutionary time. Future studies should assess how plant responses to drought may be constrained by the apparent shift from tolerance (via low turgor loss point) to avoidance (via stomatal regulation and/or access to deeper soil moisture)

A conserved circadian function for the Neurofibromatosis 1 gene

Summary: Loss of the Neurofibromatosis 1 (Nf1) protein, neurofibromin, in Drosophila disrupts circadian rhythms of locomotor activity without impairing central clock function, suggesting effects downstream of the clock. However, the relevant cellular mechanisms are not known. Leveraging the discovery of output circuits for locomotor rhythms, we dissected cellular actions of neurofibromin in recently identified substrates. Herein, we show that neurofibromin affects the levels and cycling of calcium in multiple circadian peptidergic neurons. A prominent site of action is the pars intercerebralis (PI), the fly equivalent of the hypothalamus, with cell-autonomous effects of Nf1 in PI cells that secrete DH44. Nf1 interacts genetically with peptide signaling to affect circadian behavior. We extended these studies to mammals to demonstrate that mouse astrocytes exhibit a 24-hr rhythm of calcium levels, which is also attenuated by lack of neurofibromin. These findings establish a conserved role for neurofibromin in intracellular signaling rhythms within the nervous system. : Bai et al. show that the gene mutated in the disease Neurofibromatosis 1 is required for maintaining levels or cycling of calcium in circadian neurons in Drosophila and in mammalian cells. These effects likely account for effects of Nf1 on circadian behavior in Drosophila and may be relevant in explaining sleep phenotypes in patients. Keywords: circadian rhythms, neurofibromatosis 1, Drosophila, peptide signaling, cycling of calcium, mouse astrocyte