Quadratic approximation based heuristic for optimization-based coordination of automated vehicles in confined areas

We investigate the problem of coordinating multiple automated vehicles (AVs) in confined areas. This problem can be formulated as an optimal control problem (OCP) where the motion of the AVs is optimized such that collisions are avoided in cross-intersections, merge crossings, and narrow roads. The problem is combinatorial and solving it to optimality is prohibitively difficult for all but trivial instances. For this reason, we propose a heuristic method to obtain approximate solutions. The heuristic comprises two stages: In the first stage, a Mixed Integer Quadratic Program (MIQP), similar in construction to the Quadratic Programming (QP) sub-problems in Sequential Quadratic Programming (SQP), is solved for the combinatorial part of the solution. In the second stage, the combinatorial part of the solution is held fixed, and the optimal state and control trajectories for the vehicles are obtained by solving a Nonlinear Program (NLP). The performance of the algorithm is demonstrated by a simulation of a non-trivial problem instance.Comment: To be published in the 61st IEEE Conference on Decision and Control (CDC 2022). arXiv admin note: substantial text overlap with arXiv:2210.1473

Revisiting Multiple Pattern Matching

We consider the classical exact multiple string matching problem. The proposed solution is based on a combination of a few ideas: using q-grams instead of single characters, pattern superimposition, bit-parallelism and alphabet size reduction. We discuss the pros and cons of various alternatives to achieve the possibly best combination of techniques. The main contribution of this paper are different alphabet mapping methods that allow to reduce memory requirements and use larger q-grams. The experimental results show that the presented algorithm is competitive in most practical cases. One of the tests shows also that tailoring our scheme to search over a byte-encoded text results in speedups in comparison to searching over a plain text

Digital Twins for Ports: Derived from Smart City and Supply Chain Twinning Experience

Ports are striving for innovative technological solutions to cope with the ever-increasing growth of transport, while at the same time improving their environmental footprint. An emerging technology that has the potential to substantially increase the efficiency of the multifaceted and interconnected port processes is the digital twin. Although digital twins have been successfully integrated in many industries, there is still a lack of cross-domain understanding of what constitutes a digital twin. Furthermore, the implementation of the digital twin in complex systems such as the port is still in its infancy. This paper attempts to fill this research gap by conducting an extensive cross-domain literature review of what constitutes a digital twin, keeping in mind the extent to which the respective findings can be applied to the port. It turns out that the digital twin of the port is most comparable to complex systems such as smart cities and supply chains, both in terms of its functional relevance as well as in terms of its requirements and characteristics. The conducted literature review, considering the different port processes and port characteristics, results in the identification of three core requirements of a digital port twin, which are described in detail. These include situational awareness, comprehensive data analytics capabilities for intelligent decision making, and the provision of an interface to promote multi-stakeholder governance and collaboration. Finally, specific operational scenarios are proposed on how the port's digital twin can contribute to energy savings by improving the use of port resources, facilities and operations.Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Behavioral profiling of SLC38A10 knockout mice using the multivariate concentric square field™ test

Introduction: SLC38A10 is a gene that encodes the SLC38A10 protein, also known as SNAT10. The SLC38 family is evolutionary old, and SLC38A10 is one of the oldest members of the family. It is ubiquitously expressed, and its substrates are glutamine, glutamate, alanine, aspartate, and serine. However, little is known about its biological importance.Methods: In the current study, an SLC38A10 knockout mouse was run in the multivariate concentric square fieldTM (MCSF) test. The MCSF test gives the mouse a choice of areas to explore; sheltered areas, elevated and illuminated areas, or open spaces, and a behavioral profile is obtained. The multivariate data obtained were analyzed (i) for each parameter, (ii) parameters grouped into functional categories, and (iii) with a principal component analysis.Results: In the trend analysis, knockout mice had a decreased exploratory behavior compared to controls but did not show a distinct grouping in the principal component analysis.Discussion: There was not a pronounced difference in the behavioral profile in SLC38A10 knockout mice compared to their wild-type controls, although subtle alterations in zones associated with exploratory behavior and risk assessment in female and male knockout mice, respectively, could be observed. These results imply that a loss of function of the SLC38A10 protein in mice does not drastically alter behavior in the MSCF test

The amphioxus (Branchiostoma floridae) genome contains a highly diversified set of G protein-coupled receptors

<p>Abstract</p> <p>Background</p> <p>G protein-coupled receptors (GPCRs) are one of the largest families of genes in mammals. <it>Branchiostoma floridae </it>(amphioxus) is one of the species most closely related species to vertebrates.</p> <p>Results</p> <p>Mining and phylogenetic analysis of the amphioxus genome showed the presence of at least 664 distinct GPCRs distributed among all the main families of GPCRs; <it>Glutamate (18)</it>, <it>Rhodopsin (570)</it>, <it>Adhesion (37)</it>, <it>Frizzled (6) </it>and <it>Secretin (16)</it>. Surprisingly, the <it>Adhesion </it>GPCR repertoire in amphioxus includes receptors with many new domains not previously observed in this family. We found many <it>Rhodopsin </it>GPCRs from all main groups including many amine and peptide binding receptors and several previously uncharacterized expansions were also identified. This genome has however no genes coding for bitter taste receptors (TAS2), the sweet and umami (TAS1), pheromone (VR1 or VR2) or mammalian olfactory receptors.</p> <p>Conclusion</p> <p>The amphioxus genome is remarkably rich in various GPCR subtypes while the main GPCR groups known to sense exogenous substances (such as Taste 2, mammalian olfactory, nematode chemosensory, gustatory, vomeronasal and odorant receptors) in other bilateral species are absent.</p

The G protein-coupled receptor subset of the rat genome

<p>Abstract</p> <p>Background</p> <p>The superfamily of G protein-coupled receptors (GPCRs) is one of the largest within most mammals. GPCRs are important targets for pharmaceuticals and the rat is one of the most widely used model organisms in biological research. Accurate comparisons of protein families in rat, mice and human are thus important for interpretation of many physiological and pharmacological studies. However, current automated protein predictions and annotations are limited and error prone.</p> <p>Results</p> <p>We searched the rat genome for GPCRs and obtained 1867 full-length genes and 739 pseudogenes. We identified 1277 new full-length rat GPCRs, whereof 1235 belong to the large group of olfactory receptors. Moreover, we updated the datasets of GPCRs from the human and mouse genomes with 1 and 43 new genes, respectively. The total numbers of full-length genes (and pseudogenes) identified were 799 (583) for human and 1783 (702) for mouse. The rat, human and mouse GPCRs were classified into 7 families named the <it>Glutamate, Rhodopsin, Adhesion, Frizzled, Secretin, Taste2 and Vomeronasal1 </it>families. We performed comprehensive phylogenetic analyses of these families and provide detailed information about orthologues and species-specific receptors. We found that 65 human <it>Rhodopsin </it>family GPCRs are orphans and 56 of these have an orthologue in rat.</p> <p>Conclusion</p> <p>Interestingly, we found that the proportion of one-to-one GPCR orthologues was only 58% between rats and humans and only 70% between the rat and mouse, which is much lower than stated for the entire set of all genes. This is in mainly related to the sensory GPCRs. The average protein sequence identities of the GPCR orthologue pairs is also lower than for the whole genomes. We found these to be 80% for the rat and human pairs and 90% for the rat and mouse pairs. However, the proportions of orthologous and species-specific genes vary significantly between the different GPCR families. The largest diversification is seen for GPCRs that respond to exogenous stimuli indicating that the variation in their repertoires reflects to a large extent the adaptation of the species to their environment. This report provides the first overall roadmap of the GPCR repertoire in rat and detailed comparisons with the mouse and human repertoires.</p

An evaluation of gas transfer velocity parameterizations during natural convection using DNS

Direct numerical simulations (DNS) of free surface flows driven by natural convection are used to evaluate different methods of estimating air-water gas exchange at no-wind conditions. These methods estimate the transfer velocity as a function of either the horizontal flow divergence at the surface, the turbulent kinetic energy dissipation beneath the surface, the heat flux through the surface, or the wind speed above the surface. The gas transfer is modeled via a passive scalar. The Schmidt number dependence is studied for Schmidt numbers of 7, 150 and 600. The methods using divergence, dissipation and heat flux estimate the transfer velocity well for a range of varying surface heat flux values, and domain depths. The two evaluated empirical methods using wind (in the limit of no wind) give reasonable estimates of the transfer velocity, depending however on the surface heat flux and surfactant saturation. The transfer velocity is shown to be well represented by the expression, k(s) = A (Bv)(1/4) Sc2(n), where A is a constant, B is the buoyancy flux, m is the kinematic viscosity, Sc is the Schmidt number, and the exponent n depends on the water surface characteristics. The results suggest that A = 0.39 and n approximate to 1/2 and n approximate to 2/3 for slip and no-slip boundary conditions at the surface, respectively. It is further shown that slip and no-slip boundary conditions predict the heat transfer velocity corresponding to the limits of clean and highly surfactant contaminated surfaces, respectively

The Limits of Lawyering: Legal Opinions in Structured Finance

Significant controversy surrounds the issuance of legal opinions in structured finance transactions, particularly where accountants separately use these opinions, beyond their traditional primary use, for determining whether to characterize the transactions as debt. Reflecting at its core the unresolved boundaries between public and private in financial transactions, this controversy raises important issues of first impression: To what extent, for example, should lawyers be able to issue legal opinions that create negative externalities? Furthermore, what should differentiate the roles of lawyers and accountants in disclosing information to investors? Resolution of these issues not only helps to demystify the mystique, and untangle the morass, of legal-opinion giving but also affects the very viability of the securitization industry, which dominates American, and increasingly global, financing