Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments

The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized planner - MAPP is described and applied to the task of finding trajectories for dozens UAVs performing nap-of-the-earth flight in urban environments. Results of the experimental studies provide an opportunity to claim that MAPP is a highly efficient planner for solving considered types of tasks

Effect of Inflow and Infiltration in Sewerage System of Residential Area, Kuantan, Pahang

Inflow and infiltration is a phenomenon in sewerage systems that can have negative effects on the environment and human health if not treated properly. Collaboration has been made between Universiti Malaysia Pahang (UMP) and Indah Water Konsortium Sdn. Bhd. (IWK) where the purpose is to evaluate the amount of inflow and infiltration happening in sewerage systems of residential areas in Kuantan. For this part of the study, one sewer pipeline (MH92a–MH92b) was selected at the residential area of Bandar Putra, having a population equivalent of 1694. The method used in this research was the Flowrate method to tabulate data. ISCO 2150 and 4250 Area Velocity Flowmeters were used to measure flow rate data in the sewer pipeline, whereas ISCO 674 Rain Gauge was used to collect rainfall intensity data. Calibration of all the equipment was done at the Hydrology and Hydraulic Laboratory in UMP. The data was collected for 41 days with each measurement separated by an interval of five minutes. The result shows that the average percentage Infiltration Rate of Qpeak and Qave in this residential catchment were 10.3% and 26.5% which is higher than the value mentioned in Hammer and Hammer (2012). Inflow and infiltration is a real concern, so more study is required to determine whether revision of the infiltration rate recommended in the Malaysian Standard is needed

Effect of Stimulus Orientation on Visual Function in Children with Refractive Amblyopia.

Purpose: We investigated and characterized the patterns of meridional anisotropies in newly diagnosed refractive amblyopes using pattern onset–offset visual evoked potentials (POVEPs) and psychophysical grating acuity (GA). Methods: Twenty-five refractive amblyopes were recruited and compared with non-amblyopic controls from our previous study. Monocular POVEPs were recorded in response to sinewave 4 cycles per degree (cpd) grating stimuli oriented along each individual participants' principal astigmatic meridians, which were approximately horizontal (meridian 1) and vertical (meridian 2). Binocular POVEPs in response to the same stimuli, but oriented at 45°, 90°, 135°, and 180°, were recorded. Psychophysical GAs were assessed along the same meridians using a two-alternative non-forced-choice technique. The C3 amplitudes and peak latencies of the POVEPs and GAs were compared across meridians for both groups (refractive amblyopes and controls) using linear mixed models (monocular) and ANOVA (binocular), and post hoc analysis was conducted to determine if meridional anisotropies in this cohort of amblyopes were related to low (≤1.50 diopters [D]), moderate (1.75–2.75 D) and high (≥3.00 D) astigmatism. Results: In the newly diagnosed refractive amblyopes, there were no significant meridional anisotropies across all outcome measures, but the post hoc analysis demonstrated that C3 amplitude was significantly higher in those with low (P = 0.02) and moderate (P = 0.004) astigmatism compared to those with high astigmatism. Refractive amblyopes had poorer GA and C3 amplitudes compared to controls by approximately two lines on the logMAR chart (monocular: P = 0.013; binocular: P = 0.014) and approximately 6 µV (monocular: P = 0.009; binocular: P = 0.027), respectively. Conclusions: Deleterious effects of high astigmatism was evident in newly diagnosed refractive amblyopes, but the neural deficits do not seem to be orientation-specific for the stimulus parameters investigated

Electrophysiological and Psychophysical Studies of Meridional Anisotropies in Children With and Without Astigmatism.

Purpose: We investigated the pattern of meridional anisotropies, if any, for pattern onset-offset visual evoked potential (POVEPs) responses and psychophysical grating acuity (GA) in children with normal letter visual acuity (20/20 or better). Methods: A total of 29 children (aged 3-9 years), nine of whom were astigmatic (AS), were recruited. Orientation-specific monocular POVEPs were recorded in response to sinewave grating stimuli oriented along the subjects' principal AS meridians. Horizontal and vertical gratings were designated Meridians 1 and 2, respectively, for nonastigmatic patients (Non-AS). Binocular POVEPs in response to the same stimuli, but oriented at 45°, 90°, 135°, and 180°, were recorded. Psychophysical GAs were assessed monocularly and binocularly along the same meridians using the same stimuli by a 2-alternative-forced-choice staircase technique. The C3 amplitudes and peak latencies of the POVEP and GAs were compared across meridians using linear mixed models (monocular) and ANOVA (binocular). Results: There were significant meridional anisotropies in monocular C3 amplitudes regardless of astigmatism status (P = 0.001): Meridian 2 (mean ± SE Non-AS, 30.13 ± 2.07 μV; AS, 26.53 ± 2.98 μV) was significantly higher than Meridian 1 (Non-AS, 26.14 ± 1.87 μV; AS, 21.68 ± 2.73 μV; P = 0.019), but no meridional anisotropies were found for GA or C3 latency. Binocular C3 amplitude in response to horizontally oriented stimuli (180°, 29.71 ± 3.06 μV) was significantly lower than the oblique (45°, 36.62 ± 3 .05 μV; P = 0.03 and 135°, 35.95 ± 2.92 μV; P = 0.04) and vertical (90°, 37.82 ± 3.65 μV; P = 0.02) meridians, and binocular C3 latency was significantly shorter in response to vertical than oblique gratings (P ≤ 0.001). Conclusions: Meridional anisotropy was observed in children with normal vision. The findings suggest that horizontal gratings result in a small, but significantly lower POVEP amplitude than for vertical and oblique gratings

A New View on Worst-Case to Average-Case Reductions for NP Problems

We study the result by Bogdanov and Trevisan (FOCS, 2003), who show that under reasonable assumptions, there is no non-adaptive worst-case to average-case reduction that bases the average-case hardness of an NP-problem on the worst-case complexity of an NP-complete problem. We replace the hiding and the heavy samples protocol in [BT03] by employing the histogram verification protocol of Haitner, Mahmoody and Xiao (CCC, 2010), which proves to be very useful in this context. Once the histogram is verified, our hiding protocol is directly public-coin, whereas the intuition behind the original protocol inherently relies on private coins

Pawikan on FB: Facebook as a Source of Information on the Current State of Sea Turtles in the Philippines with an Emphasis on Mortality

Five of the seven species of pawikan (sea turtles) are found in the Philippine seas. These are Olive ridley turtle (Lepidochelys olivacea), Hawksbill turtle (Eretmochelys imbricata), Green sea (Chelonia mydas), Loggerhead turtle (Caretta caretta), and Leatherback turtle (Dermochelys coriacea). All of these are threatened species due to predation (animals and humans), climate change, harvesting of eggs, juveniles and adults, bycatch, and habitat degradation. Thus, to protect the species, several laws, policies, and programs have been passed and implemented by the Philippines government since 1979 (Marine Wild Fauna Watch of the Philippines (MWFWP), 2014). However, despite the efforts to protect the pawikan, reports about dead sea turtles due to various causes are becoming frequent than ever. Furthermore, public posts on Facebook about dead pawikan by private individuals are increasing. On the other hand, data on the mortality causes of sea turtles remain scarce as of the moment. Hence, to provide additional data, this study was conducted

VE-cadherin and claudin-5: it takes two to tango

Endothelial barrier function requires the adhesive activity of VE-cadherin and claudin-5, which are key components of adherens and tight endothelial junctions, respectively. Emerging evidence suggests that VE-cadherin controls claudin-5 expression by preventing the nuclear accumulation of FoxO1 and -catenin, which repress the claudin-5 promoter. This indicates that a crosstalk mechanism operates between these junctional structures

A multi-method approach for the integrative assessment of soil functions: Application on a coastal mountainous site of the Philippines

The projected increase of the world\u27s population and the sustainability challenges the agricultural sector is facing, call for the enhancement of multi-functionality in agriculture in order to simultaneously provide food while meeting environmental targets. Here, we use the Functional Land Management (FLM) framework to assess the supply of and the demand for soil functions to inform agri-environmental policy for Udalo, a mountainous site in the Philippines. As many emerging communities in developing nations, Udalo is on the cusp of rapid development due to the construction of a major road increasing its accessibility and attractiveness for land investment. We assessed the supply of four soil functions in relation to six land-use types and four slope categories. The function “productivity” was assessed by interviews with 128 farmers, “habitat for biodiversity” by a vegetation survey, and “soil conservation” and “water conservation” via a literature review. The demand for functions was first assessed from the “top-down” policy perspective via interviews and reviews of policy targets, then complemented by integrating the local “bottom-up” demands for functions. These were assessed by applying a Q methodology, providing insights in the prioritisation of functions from the perspective of 22 local actors. Maps of supply and demands were generated for each function: supply maps by overlaying land use and slope category, top-down demand maps from administrative zoning/land-use plans, and bottom-up demand maps from local actors designation of geomorphological areas. Our results revealed contrasting demands for functions, as well as a heterogeneous spatial distribution of supply and demands. Discrepancies emerged (i) between supply and demand, (ii) between bottom-up (local) demands and the top-down (policy driven) demand, and (iii) among local actors perspectives. Our study indicates that discrepancies are not necessarily conflicting, but can uncover pathways for defining compromises, representing attainable policy entry points. Not one single development model can meet the needs of every stakeholder; however, a combination of land uses and management strategies can meet divergent interests and allow for optimisation of functions. This integrative approach of FLM provides a socially embedded biophysical analysis and is a valuable tool for the design of customized land-use and agri-environmental policies

Transdisciplinary learning: Transformative collaborations between students, industry, academia and communities.

Background and objectives of the case An analogy: Imagine you are invited to a dinner party, but instead of a stuffy sit-down affair, your host asks you to bring your favourite ingredient, and together you prepare a delicious feast of unique and distinct flavours. UTS’s transdisciplinary initiatives are changing the shape of higher education and forging innovative partnerships by bringing together diverse professional fields. With a focus on practice-based and problem-focused learning, UTS educational programs combine the strengths of multiple disciplines, industries, public sector organisations, and the community to turn real-world problems into rewarding opportunities for education and also “learning for a lifetime”. In place of the limitations of artificial disciplinary boundaries, transdisciplinary learning practices create synergistic and innovative approaches to grappling with complex applied challenges. Students, researchers, practitioners, community members and other stakeholders combine their knowledge, tools, techniques, methods, theories, concepts, as well as cultural and personal perspectives. By understanding problems holistically, the solutions that emerge are bold, innovative, and creative, as well as mutually beneficial. We view this as the future of education: good to work with, and good to think with — problem solving for (and with) industry and society. The Faculty of Transdisciplinary Innovation is re-imagining how education, research, and professional practice can work together to navigate today’s complex problems, and create commercially attractive and socially responsible futures. We also practice what we preach: for example, staff professional development to enact these models in our own teaching; educational programs to provide experiential learning around problem solving within a rapidly-changing environment involving students from across different disciplines and cultural backgrounds; as well as policy development and research on today’s pressing “wicked problems” with industry and government. Primary objectives of this next practice concept of transdisciplinary learning, include: - To promote a shift in industry-university engagement from producing “knowledge for society” to co-generating “knowledge with society”; - To build a resilient ecosystem for co-learning; - To create and sustain future-oriented degree programs with collaboration between industry, government, and community at the centre, geared to prepare our graduates for the complex challenges of a networked world; - To create an agile and responsive industry-university lab environment for generating and testing new experimental models; - To enable industry – by collaborating with our students and academics – to see their problems from a fresh perspective, often through different and revealing lenses, and to notice opportunities and spot challenges that may have otherwise been overlooked; - To prepare students to lead innovation in a rapidly-changing and challenging world; and - To graduate students who are ‘complexity-fluent’, systems thinkers, creative problem-posers and -solvers, and imaginative, ethical citizens