A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative relationships with constantly changeable task demand in Multi-robot field. First this paper whole and static describes organization model HWROM of robot team, then uses Markov course and Bayesian theorem for reference, dynamical describes the team cooperative relationships building. Finally from cooperative entity layer, ability layer and relative layer we research team formation and cooperative mechanism, and discuss how to optimize relative action sets during the evolution. The dynamic evolution model of robot team and cooperative relationships between robot teams proposed and described in this paper can not only generalize the robot team as a whole, but also depict the dynamic evolving process quantitatively. Users can also make the prediction of the cooperative relationship and the action of the robot team encountering new demands based on this model. Journal web page & a lot of robotic related papers www.ars-journal.co

Integral and Rxte/Asm Observations on Igr J17098-3628

To probe further the possible nature of the unidentified source IGR J17098-3628, we have carried out a detailed analysis of its long-term time variability as monitored by RXTE/ASM, and of its hard X-ray properties as observed by INTEGRAL. INTEGRAL has monitored this sky region over years and significantly detected IGR J17098-3628 only when the source was in this dubbed active state. In particular, at $\ge$ 20 keV, IBIS/ISGRI caught an outburst in March 2005, lasting for $\sim$5 days with detection significance of 73$\sigma$ (20-40 keV) and with the emission at $<$200 keV. The ASM observations reveal that the soft X-ray lightcurve shows a similar outburst to that detected by INTEGRAL, however the peak of the soft X-ray lightcurve either lags, or is preceded by, the hard X-ray ($>$20 keV) outburst by $\sim$2 days. This resembles the behavior of X-ray novae like XN 1124-683, hence it further suggests a LMXB nature for IGR J17098-3628. While the quality of the ASM data prevents us from drawing any definite conclusions, these discoveries are important clues that, coupled with future observations, will help to resolve the as yet unknown nature of IGR J17098-3628.Comment: 15 pages, 7 figure, accepted in PAS

Phenylboronic acid-diol crosslinked 6-<i>O</i>-vinylazeloyl-d-galactose nanocarriers for insulin delivery

A new block polymer named poly 3-acrylamidophenylboronic acid-b-6-O–vinylazeloyl-d-galactose (p(AAPBA-b-OVZG)) was prepared using 3-acrylamidophenylboronic acid (AAPBA) and 6-O-vinylazeloyl-D-galactose (OVZG) via a two-step procedure involving S-1-dodecyl-S-(α', α'-dimethyl-α″-acetic acid) trithiocarbonate (DDATC) as chain transfer agent, 2,2-azobisisobutyronitrile (AIBN) as initiator and dimethyl formamide (DMF) as solvent. The structures of the polymer were examined by Fourier transform infrared spectroscopy (FT-IR) and 1H NMR and the thermal stability was determined by thermal gravimetric analysis (TG/DTG). Transmission electron microscopy (TEM) and dynamic light scattering (DLS) were utilized to evaluate the morphology and properties of the p(AAPBA-b-OVZG) nanoparticles. The cell toxicity, animal toxicity and therapeutic efficacy were also investigated. The results indicate the p(AAPBA-b-OVZG) was successfully synthesized and had excellent thermal stability. Moreover, the p(AAPBA-b-OVZG) nanoparticles were submicron in size and glucose-sensitive in phosphate-buffered saline (PBS). In addition, insulin as a model drug had a high encapsulation efficiency and loading capacity and the release of insulin was increased at higher glucose levels. Furthermore, the nanoparticles showed a low-toxicity in cell and animal studies and they were effective at decreasing blood glucose levels of mice over 96 h. These p(AAPBA-b-OVZG) nanoparticles show promise for applications in diabetes treatment using insulin or other hypoglycemic proteins