Symmetry Reduction Enables Model Checking of More Complex Emergent Behaviours of Swarm Navigation Algorithms

The emergent global behaviours of robotic swarms are important to achieve their navigation task goals. These emergent behaviours can be verified to assess their correctness, through techniques like model checking. Model checking exhaustively explores all possible behaviours, based on a discrete model of the system, such as a swarm in a grid. A common problem in model checking is the state-space explosion that arises when the states of the model are numerous. We propose a novel implementation of symmetry reduction, in the form of encoding navigation algorithms relatively with respect to a reference, based on the symmetrical properties of swarms in grids. We applied the relative encoding to a swarm navigation algorithm, Alpha, modelled for the NuSMV model checker. A comparison of the state-space and verification results with an absolute (or global) and a relative encoding of the Alpha algorithm highlights the advantages of our approach, allowing model checking larger grid sizes and number of robots, and consequently, verifying more complex emergent behaviours. For example, a property was verified for a grid with 3 robots and a maximum allowed size of 8x8 cells in a global encoding, whereas this size was increased to 16x16 using a relative encoding. Also, the time to verify a property for a swarm of 3 robots in a 6x6 grid was reduced from almost 10 hours to only 7 minutes. Our approach is transferable to other swarm navigation algorithms.Comment: Accepted for presentation in Towards Autonomous Robotic Systems (TAROS) 2015, Liverpool, U

Neurogenic Potential of the 18-kDa Mitochondrial Translocator Protein (TSPO) in Pluripotent P19 Stem Cells

The 18-kDa translocator protein (TSPO) is a key mitochondrial target by which different TSPO ligands exert neuroprotective effects. We assayed the neurogenic potential of TSPO to induce the neuronal differentiation of pluripotent P19 stem cells in vitro. We studied changes in cell morphology, cell proliferation, cell death, the cell cycle, mitochondrial functionality, and the levels of pluripotency and neurogenesis of P19 stem cells treated with the TSPO ligand, PK 11195, in comparison to differentiation induced by retinoid acid (RA) and undifferentiated P19 stem cells. We observed that PK 11195 was able to activate the differentiation of P19 stem cells by promoting the development of embryoid bodies. PK 11195 also induced changes in the cell cycle, decreased cell proliferation, and activated cell death. Mitochondrial metabolism was also enhanced by PK 11195, thus increasing the levels of reactive oxygen species, Ca2+, and ATP as well as the mitochondrial membrane potential. Markers of pluripotency and neurogenesis were also altered during the cell differentiation process, as PK 11195 induced the differentiation of P19 stem cells with a high predisposition toward a neuronal linage, compared to cell differentiation induced by RA. Thus, we suggest a relevant neurogenic potential of TSPO along with broad therapeutic implications

Methodology for the Study of the Air Dispersion of the Industrial Contaminants Taking into Account the Orography

Air pollution is one of the consequences of the industrial development, which causes a lot of health and environmental problems. For these reasons, the quality of the air is one of the major concerns of regional, national and European governments. All of them are developing strict normative to reduce the emissions of contaminants. The quality of the air can be analysed by means of numerical simulations. In this paper, a methodology based on Computational Fluid Dynamics (CFD) is described. This technique allows evaluating the dispersion of industrial-type air pollutants in a relatively large area, taking into account the orography, buildings and so on. Also, specific models are studied in order to consider the specific characteristics of the industrial contaminants and particles

Differential Cellular Interactome in Schizophrenia and Bipolar Disorder—Discriminatory Biomarker Role

Schizophrenia (SCH) and bipolar disorder (BD) are two of the most important psychiatric pathologies due to their high population incidence and disabling power, but they also present, mainly in their debut, high clinical similarities that make their discrimination difficult. In this work, the differential oxidative stress, present in both disorders, is shown as a concatenator of the systemic alterations—both plasma and erythrocyte, and even at the level of peripheral blood mononuclear cells (PBMC)—in which, for the first time, the different affectations that both disorders cause at the level of the cellular interactome were observed. A marked erythrocyte antioxidant imbalance only present in SCH generalizes to oxidative damage at the plasma level and shows a clear impact on cellular involvement. From the alteration of protein synthesis to the induction of death by apoptosis, including proteasomal damage, mitochondrial imbalance, and autophagic alteration, all the data show a greater cellular affectation in SCH than in BD, which could be linked to increased oxidative stress. Thus, patients with SCH in our study show increased endoplasmic reticulum (ER)stress that induces increased proteasomal activity and a multifactorial response to misfolded proteins (UPR), which, together with altered mitochondrial activity, generating free radicals and leading to insufficient energy production, is associated with defective autophagy and ultimately leads the cell to a high apoptotic predisposition. In BD, however, oxidative damage is much milder and without significant activation of survival mechanisms or inhibition of apoptosis. These clear differences identified at the molecular and cellular level between the two disorders, resulting from progressive afflictions in which oxidative stress can be both a cause and a consequence, significantly improve the understanding of both disorders to date and are essential for the development of targeted and preventive treatments

Hanneke van Bruggen, golden medal of occupational therapy 2012: a kaleidoscopic view

[Resumen] El espíritu pionero, su energía contagiosa y el compromiso, son un ejemplo para todos los terapeutas ocupacionales del mundo y también una referencia para nuestra profesión. Por esta brillan te trayectoria profesional, el profesorado de la Facul tad de Ciencias de la Salud de la Universidad de la Coruña, en colaboración con la Asociación Profesion al Gallega de Terapeutas Ocupacionales elegido a Doña Hanneke Van Bruggen como Medalla de Oro de Terapia Ocupacional 2012.[Abstract] Her pioneering spirit, her contagious energy and commitment, are an example for all occupational therapists of the world/around the world and also a reference to our profession. For her brilliant professional career, the Faculty of the School of Health Sciences, University Of Coruña, in collabora tion with Professional Galician Association of Occupatio nal Therapists have chosen Mrs Hanneke Van Bruggen as Gold Medal 2012 Occupational Therapy