Multi-robot Motion Planning based on Nets-within-Nets Modeling and Simulation

This paper focuses on designing motion plans for a heterogeneous team of robots that has to cooperate in fulfilling a global mission. The robots move in an environment containing some regions of interest, and the specification for the whole team can include avoidances, visits, or sequencing when entering these regions of interest. The specification is expressed in terms of a Petri net corresponding to an automaton, while each robot is also modeled by a state machine Petri net. With respect to existing solutions for related problems, the current work brings the following contributions. First, we propose a novel model, denoted {High-Level robot team Petri Net (HLPN) system, for incorporating the specification and the robot models into the Nets-within-Nets paradigm. A guard function, named Global Enabling Function (gef), is designed to synchronize the firing of transitions such that the robot motions do not violate the specification. Then, the solution is found by simulating the HPLN system in a specific software tool that accommodates Nets-within-Nets. An illustrative example based on a Linear Temporal Logic (LTL) mission is described throughout the paper, complementing the proposed rationale of the framework.Comment: submitted to 62nd IEEE Conference on Decision and Control, Dec. 13-15, 202

Behavioral analysis of scientific workflows with semantic information

The recent development in scientific computing related areas has shown an increasing interest in scientific workflows because of their abilities to solve complex challenges. Problems and challenges that were too heavy or time-consuming can be solved now in a more efficient manner. Scientific workflows have been progressively improved by means of the introduction of new paradigms and technologies, being the semantic area one of the most promising ones. This paper focuses on the addition of semantic Web techniques to the scientific workflow area, which facilitates the integration of network-based solutions. On the other hand, a model checking technique to study the workflow behavior prior to its execution is also described. Using the Unary RDF annotated Petri net formalism (U-RDF-PN), scientific workflows can be improved by adding semantic annotations related to the task descriptions and workflow evolution. This technique can be applied using a complete environment for the model checking of this kind of workflows that is also depicted in this work. Finally, the proposed methodology is exemplified by its application to a couple of known scientific workflows: the First Provenance Challenge and the InterScan protein analysis workflow

A Partial Approach to the Problem of Deadlocks in Processes with Resources

In the modeling and control of manufacturing systems one of the aims is to obtain a system that can run in an automatic way. This means that the software in charge of the monitoring and control of the system must be able to deal with a set of problematic situations (system failures, system deadlocks, overflow of storing facilities, etc.). In this paper we are going to concentrate on one of the previous problems: the deadlock problem. Deadlock problems are very usual in concurrent system where, even if the execution of each process is correct, the competition of a set of processes for the same set of resources can give rise to deadlocks. This problem is very common to all the environments where processes share resources (or communicate via messages): databases, operating systems, manufacturing systems, etc. The present work focuses on the deadlock problem for a class of systems that appears in Flexible Manufacturing Systems (FMS) environments. We are going to identify a class of nets th..

Tandem duplication events in the expansion of the small heat shock protein gene family in solanum lycopersicum (cv. Heinz 1706)

In plants, fruit maturation and oxidative stress can induce small heat shock protein (sHSP) synthesis to maintain cellular homeostasis. Although the tomato reference genome was published in 2012, the actual number and functionality of sHSP genes remain unknown. Using a transcriptomic (RNA-seq) and evolutionary genomic approach, putative sHSP genes in the Solanum lycopersicum (cv. Heinz 1706) genome were investigated. A sHSP gene family of 33 members was established. Remarkably, roughly half of the members of this family can be explained by nine independent tandem duplication events that determined, evolutionarily, their functional fates. Within a mitochondrial class subfamily, only one duplicated member, Solyc08g078700, retained its ancestral chaperone function, while the others, Solyc08g078710 and Solyc08g078720, likely degenerated under neutrality and lack ancestral chaperone function. Functional conservation occurred within a cytosolic class I subfamily, whose four members, Solyc06g076570, Solyc06g076560, Solyc06g076540, and Solyc06g076520, support ~57% of the total sHSP RNAm in the red ripe fruit. Subfunctionalization occurred within a new subfamily, whose two members, Solyc04g082720 and Solyc04g082740, show heterogeneous differential expression profiles during fruit ripening. These findings, involving the birth/death of some genes or the preferential/plastic expression of some others during fruit ripening, highlight the importance of tandem duplication events in the expansion of the sHSP gene family in the tomato genome. Despite its evolutionary diversity, the sHSP gene family in the tomato genome seems to be endowed with a core set of four homeostasis genes: Solyc05g014280, Solyc03g082420, Solyc11g020330, and Solyc06g076560, which appear to provide a baseline protection during both fruit ripening and heat shock stress in different tomato tissues.Fil: Krsticevic, Flavia Jorgelina. Universidad Tecnológica Nacional. Facultad Regional San Nicolás; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; ArgentinaFil: Arce, Debora Pamela. Universidad Tecnológica Nacional. Facultad Regional San Nicolás; Argentina. Universidad Nacional de Rosario. Facultad de Ciencias Agrarias; ArgentinaFil: Ezpeleta, Joaquin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; Argentina. Universidad Nacional de Rosario. Facultad de Ciencias Exactas, Ingeniería y Agrimensura; ArgentinaFil: Tapia Paredes, Elizabeth. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; Argentina. Universidad Nacional de Rosario. Facultad de Ciencias Exactas, Ingeniería y Agrimensura; Argentin

Molecular Epidemiology of Multidrug-Resistant <i>Pseudomonas aeruginosa</i> Acquired in a Spanish Intensive Care Unit: Using Diverse Typing Methods to Identify Clonal Types

The increasing number of infections from multidrug-resistant P. aeruginosa (MDRPA) has compromised the selection of appropriate treatment in critically ill patients. Recent investigations have shown the existence of MDRPA global clones that have been disseminated in hospitals worldwide. We aimed to describe the molecular epidemiology and genetic diversity of the MDRPA acquired by Intensive Care Units (ICU) patients in our hospital. We used phenotypic methods to define the MDRPA and molecular methods were used to illustrate the presence of carbapenemase encoding genes. To characterize the MDRPA isolates, we used MALDI-TOF biomarker peaks, O-antigen serotyping, and multi-locus sequence typing analyses. Our data show that the most widely distributed MDRPA clone in our ICU unit was the ST175 strain. These isolates were further investigated by the whole-genome sequencing technique to determine the resistome profile and phylogenetic relationships, which showed, as previously described, that the MDR profile was due to the intrinsic resistance mechanisms and not the carbapenemase encoding genes. In addition, this study suggests that the combination of environmental focus and cross-transmission are responsible for the spread of MDRPA clones within our ICU unit. Serotyping and MALDI-TOF analyses are useful tools for the early detection of the most prevalent MDRPA clones in our hospital. Using these methods, semi-directed treatments can be introduced at earlier stages and healthcare professionals can actively search for environmental foci as possible sources of outbreaks

Interleukin 10 (IL10) proximal promoter polymorphisms beyond clinical response in classical Hodgkin lymphoma: Exploring the basis for the genetic control of the tumor microenvironment

Interleukin-10 (IL10) is an immune regulatory cytokine. Single nucleotide polymorphisms (SNPs) in IL10 promoter have been associated with prognosis in adult classical Hodgkin lymphoma (cHL). We analyzed IL10 SNPs −1082 and −592 in respect of therapy response, gene expression and tumor microenvironment (TME) composition in 98 pediatric patients with cHL. As confirmatory results, we found that −1082AA/AG; −592CC genotypes and ATA haplotype were associated with unfavourable prognosis: Progression-free survival (PFS) was shorter in −1082AA+AG (72.2%) than in GG patients (100%) (P = 0.024), and in −592AA (50%) and AC (74.2%) vs. CC patients (87.0%) (P = 0.009). In multivariate analysis, the −592CC genotype and the ATA haplotype retained prognostic impact (HR: 0.41, 95% CI 0.2–0.86; P = 0.018, and HR: 3.06 95% CI 1.03–9.12; P = 0.044, respectively). Our analysis further led to some new observations, namely: (1) Low IL10 mRNA expression was associated with −1082GG genotype (P = 0.014); (2) IL10 promoter polymorphisms influence TME composition;−1082GG/−592CC carriers showed low numbers of infiltrating cells expressing MAF transcription factor (20 vs. 78 and 49 vs. 108 cells/mm2, respectively; P< 0.05); while ATA haplotype (high expression) associated with high numbers of MAF+ cells (P = 0.005). Specifically, −1082GG patients exhibited low percentages of CD68+MAF+ (M2-like) intratumoral macrophages (15.04% vs. 47.26%, P = 0.017). Considering ours as an independent validation cohort, our results give support to the clinical importance of IL10 polymorphisms in the full spectrum of cHL, and advance the concept of genetic control of microenvironment composition as a basis for susceptibility and therapeutic response.Fil: Vera Lozada, Gabriela. Instituto Nacional de Cancer; BrasilFil: Minnicelli, Carolina. Instituto Nacional de Cancer; Brasil. Universidade Federal do Rio Grande do Norte; BrasilFil: Segges, Priscilla. Instituto Nacional de Cancer; BrasilFil: Stefanoff, Gustavo. Instituto Nacional de Cancer; BrasilFil: Kristcevic, Flavia. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; ArgentinaFil: Ezpeleta, Joaquin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; ArgentinaFil: Tapia, Elizabeth. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; ArgentinaFil: Niedobitek, Gerald. Unfallkrankenhaus Berlin; AlemaniaFil: Barros, Mario Henrique. Unfallkrankenhaus Berlin; AlemaniaFil: Hassan, Rocio. Instituto Nacional de Cancer; Brasi