Behavioural strategy for indoor mobile robot navigation in dynamic environments

PhD ThesisDevelopment of behavioural strategies for indoor mobile navigation has become a challenging and practical issue in a cluttered indoor environment, such as a hospital or factory, where there are many static and moving objects, including humans and other robots, all of which trying to complete their own specific tasks; some objects may be moving in a similar direction to the robot, whereas others may be moving in the opposite direction. The key requirement for any mobile robot is to avoid colliding with any object which may prevent it from reaching its goal, or as a consequence bring harm to any individual within its workspace. This challenge is further complicated by unobserved objects suddenly appearing in the robots path, particularly when the robot crosses a corridor or an open doorway. Therefore the mobile robot must be able to anticipate such scenarios and manoeuvre quickly to avoid collisions. In this project, a hybrid control architecture has been designed to navigate within dynamic environments. The control system includes three levels namely: deliberative, intermediate and reactive, which work together to achieve short, fast and safe navigation. The deliberative level creates a short and safe path from the current position of the mobile robot to its goal using the wavefront algorithm, estimates the current location of the mobile robot, and extracts the region from which unobserved objects may appear. The intermediate level links the deliberative level and the reactive level, that includes several behaviours for implementing the global path in such a way to avoid any collision. In avoiding dynamic obstacles, the controller has to identify and extract obstacles from the sensor data, estimate their speeds, and then regular its speed and direction to minimize the collision risk and maximize the speed to the goal. The velocity obstacle approach (VO) is considered an easy and simple method for avoiding dynamic obstacles, whilst the collision cone principle is used to detect the collision situation between two circular-shaped objects. However the VO approach has two challenges when applied in indoor environments. The first challenge is extraction of collision cones of non-circular objects from sensor data, in which applying fitting circle methods generally produces large and inaccurate collision cones especially for line-shaped obstacle such as walls. The second challenge is that the mobile robot cannot sometimes move to its goal because all its velocities to the goal are located within collision cones. In this project, a method has been demonstrated to extract the colliii sion cones of circular and non-circular objects using a laser sensor, where the obstacle size and the collision time are considered to weigh the robot velocities. In addition the principle of the virtual obstacle was proposed to minimize the collision risk with unobserved moving obstacles. The simulation and experiments using the proposed control system on a Pioneer mobile robot showed that the mobile robot can successfully avoid static and dynamic obstacles. Furthermore the mobile robot was able to reach its target within an indoor environment without causing any collision or missing the target

Data from: Quantitative analysis of the complete larval settlement process confirms Crisp’s model of surface selectivity by barnacles

For barnacle cypris larvae at the point of settlement, selection of an appropriate surface is critical. Since post-settlement relocation is usually impossible, barnacles have evolved finely-tuned surface sensing capabilities to identify suitable substrata, and a temporary adhesion system for extensive surface exploration. The pattern of exploratory behaviour appears complex and may last for several hours, imposing significant barriers to quantitative measurement. Here, we employ a novel tracking system that enables simultaneous analysis of the larval body movement of multiple individuals over their entire planktonic phase. For the first time, we describe quantitatively the complete settlement process of cyprids as they explore and select surfaces for attachment. We confirm the ‘classic’ behaviours of wide searching, close searching and inspection that comprise a model originally proposed by Prof. Dennis Crisp FRS. Moreover, a short-term assay of cyprid body movement has identified inspection behaviour as the best indicator of propensity to settle, with more inspection-related movements occurring in conditions that also promote higher settlement. More than half-century after the model was first proposed by Crisp, there exists a precise method for quantifying cyprid settlement behaviour in wide-ranging investigations of barnacle ecology and applied studies of fouling management

Tracking classification data

The .zip file contains a number of sub folders, simply labeled to indicate the experiment to which their contents correspond. The .txt files contained within these folders each contain classification data produced by our software that relate to a track or part of a track

Cyprid Tracking and Classification Software

The uncompressed .zip file is a directory containing the source files required to compile the tracking and classification software used in this study. Make executable using the UNIX 'make' command. The software is optimised for Ubuntu Linux version 12 and requires prior installation of OpenCV. The authors will provide support and advice for experimental use of the software upon request

A description of the tracking method and data analysis from Quantitative analysis of the complete larval settlement process confirms Crisp's model of surface selectivity by barnacles

This supplementary document provides additional detail relating to the design of the tracking system, identification of ‘nodes’ of behaviour and data processing/analysis by the tracking software

Phage display derived monoclonal antibodies: from bench to bedside

Monoclonal antibodies (mAbs) have become one of the most important classes of biopharmaceutical products, and they continue to dominate the universe of biopharmaceutical markets in terms of approval and sales. They are the most profitable single product class, where they represent six of the top ten selling drugs. At the beginning of the 1990s, an in vitro antibody selection technology known as antibody phage display was developed by John McCafferty and Sir. Gregory Winter that enabled the discovery of human antibodies for diverse applications, particularly antibody-based drugs. They created combinatorial antibody libraries on filamentous phage to be utilized for generating antigen specific antibodies in a matter of weeks. Since then, more than 70 phage–derived antibodies entered clinical studies and 14 of them have been approved. These antibodies are indicated for cancer, and non-cancer medical conditions, such as inflammatory, optical, infectious, or immunological diseases. This review will illustrate the utility of phage display as a powerful platform for therapeutic antibodies discovery and describe in detail all the approved mAbs derived from phage display

Potential Benefits of N-Acetylcysteine in Preventing Pregabalin-Induced Seeking-Like Behavior

Substance-use disorder is globally prevalent and responsible for numerous social and medical problems. Pregabalin (Lyrica), typically used to treat diabetic neuropathy, has recently emerged as a drug of abuse. Drug abuse is associated with several neuronal changes, including the downregulation of glutamate transporters such as glutamate transporter 1 and cystine/glutamate antiporter. We investigated the effects of N-acetylcysteine, a glutamate transporter 1 and xCT upregulator, on pregabalin addiction using a conditioned place preference paradigm. Pregabalin (60 mg/kg) was found to induce conditioned place preference when compared to a vehicle. A 100 mg/kg dose of N-acetylcysteine was found to block pregabalin-seeking behaviors. These results support previous findings showing that glutamate transporters play an important role in pregabalin-induced seeking behaviors. N-acetylcysteine may represent a beneficial agent in preventing the abuse potential of pregabalin