Node Density Estimation in VANETs Using Received Signal Power

Accurately estimating node density in Vehicular Ad hoc Networks, VANETs, is a challenging and crucial task. Various approaches exist, yet none takes advantage of physical layer parameters in a distributed fashion. This paper describes a framework that allows individual nodes to estimate the node density of their surrounding network independent of beacon messages and other infrastructure-based information. The proposal relies on three factors: 1) a discrete event simulator to estimate the average number of nodes transmitting simultaneously; 2) a realistic channel model for VANETs environment; and 3) a node density estimation technique. This work provides every vehicle on the road with two equations indicating the relation between 1) received signal strength versus simultaneously transmitting nodes, and 2) simultaneously transmitting nodes versus node density. Access to these equations enables individual nodes to estimate their real-time surrounding node density. The system is designed to work for the most complicated scenarios where nodes have no information about the topology of the network and, accordingly, the results indicate that the system is reasonably reliable and accurate. The outcome of this work has various applications and can be used for any protocol that is affected by node density

Flexible Automatic Scheduling For Autonomous Telescopes: The MAJORDOME

We have developped a new method for the scheduling of astronomical automatic telescopes, in the framework of the autonomous TAROT instrument. The MAJORDOME software can handle a variety of observations, constrained, periodic, etc., and produces a timeline for the night, which may be modified at any time to take into account the specific conditions of the night. The MAJORDOME can also handle target of opportunity observations without delay.Comment: 16 pages, 6 figures, to appear in Experimental Astronom

ANÁLISE da Eficiência das Ferrovias Especializadas em Transporte de Minério de Ferro e Pelotas, Pertencentes às Empresas Mineradoras e Usinas de Pelotização, Por Meio do Método Data

O mercado mundial de minério de ferro extrai e negocia mais de dois bilhões de toneladas por ano. As poucas empresas mineradoras e usinas de pelotização estabelecem uma cadeia produtiva integrando mina, usina, ferrovia e porto visando reduzir seus custos. Suas ferrovias são vistas como custos operacionais para exploração da mina e envolvem altos investimentos e custos operacionais. Neste estudo propõe-se analisar comparativamente o desempenho de doze ferrovias especializadas no transporte de minério de ferro e pelotas, que fazem parte do patrimônio das empresas de mineração e/ou usinas de pelotização. Estas ferrovias estão localizadas em quatro continentes e distribuídas em dez países. Para isso, foi utilizada a metodologia Análise Envoltória de Dados (DEA) com retornos constantes de escala (CCR) e orientação a saída. O objetivo é mensurar e comparar a eficiência das ferrovias, identificando seu posicionamento em relação às outras ferrovias. Como variáveis de entrada foram adotadas a quantidade de vagões em operação, a quantidade de vagões do trem tipo de maior predominância e a carga por eixo do vagão, e como variável de saída foi adotado o TKU, que representa a tonelada útil transportada pela distância percorrida. Foi utilizado o software Frontier Analyst para resolver o modelo DEA proposto. No resultado obtido, três ferrovias foram consideradas como eficientes: Estrada de Ferro Carajás (EFC), Mount Newman (NEWM) e Fortescue (FMG). As ferrovias Estrada de Ferro Vitória-Minas (EFVM), Hamersley (RTHA) e Roy Hill (RHILL) poderão alcançar a fronteira de eficiência com aumento do output TKU, conforme sugerido pelos resultados gerados pelo software. As ferrovias Robe River (RTRR), QNS&L, Cartier (CART), Yekepa-Buchanan Line (AML), Iron Ore Line (IOL) e Mauritânia (MAUR) precisam aumentar mais de 140% o TKU realizado em 2016 para atingir a eficiência. Para aumentar a quantidade de MFe e PLMFe transportada é preciso analisar a capacidade produtiva das minas de MFe, avaliando o cenário de produção: exaustão, estabilidade ou crescimento. Além disso, é preciso estudar o mercado antes de aumentar a produção, pois uma oferta excessiva de MFe e PLMFe poderá desequilibrar o mercado, reduzindo o preço destes commodities e a margem de lucro das mineradoras e usinas de pelotização

Efficient exploration of unknown indoor environments using a team of mobile robots

Whenever multiple robots have to solve a common task, they need to coordinate their actions to carry out the task efficiently and to avoid interferences between individual robots. This is especially the case when considering the problem of exploring an unknown environment with a team of mobile robots. To achieve efficient terrain coverage with the sensors of the robots, one first needs to identify unknown areas in the environment. Second, one has to assign target locations to the individual robots so that they gather new and relevant information about the environment with their sensors. This assignment should lead to a distribution of the robots over the environment in a way that they avoid redundant work and do not interfere with each other by, for example, blocking their paths. In this paper, we address the problem of efficiently coordinating a large team of mobile robots. To better distribute the robots over the environment and to avoid redundant work, we take into account the type of place a potential target is located in (e.g., a corridor or a room). This knowledge allows us to improve the distribution of robots over the environment compared to approaches lacking this capability. To autonomously determine the type of a place, we apply a classifier learned using the AdaBoost algorithm. The resulting classifier takes laser range data as input and is able to classify the current location with high accuracy. We additionally use a hidden Markov model to consider the spatial dependencies between nearby locations. Our approach to incorporate the information about the type of places in the assignment process has been implemented and tested in different environments. The experiments illustrate that our system effectively distributes the robots over the environment and allows them to accomplish their mission faster compared to approaches that ignore the place labels

Towards the growth of Cu2ZnSn1 xGexS4 thin films by a single stage process Effect of substrate temperature and composition

Cu2ZnSn1-xGexS4 (CZTGS) thin films prepared by flash evaporation of a Zn-rich Cu2ZnSn0.5Ge0.5S4 bulk compound in powder form, and a subsequent thermal annealing in S containing Ar atmosphere are studied. The effect of the substrate temperature during evaporation and the initial composition of the precursor powder on the growth mechanism and properties of the final CZTGS thin film are investigated. The microstructure of the films and elemental depth profiles depend strongly on the growth conditions used. Incorporation of Ge into the Cu2ZnSnS4 lattice is demonstrated by the shift of the relevant X-ray diffraction peaks and Raman vibrational modes towards higher diffraction angles and frequencies respectively. A Raman mode at around 348-351 cm-1 is identified as characteristic of CZTGS alloys for x = [Ge]/([Sn]+[Ge]) = 0.14-0.30. The supply of Ge enables the reduction of the Sn loss via a saccrifical Ge loss. This fact allows increasing the substrate temperature up to 350º C during the evaporation, forming a high quality kesterite material and therefore, reducing the deposition process to one single stageRC acknowledges financial support from Spanish MINECO within the Ramón y Cajal programme (RYC-2011-08521) and VIR for the Juan de la Cierva fellowship (JCI-2011-10782). GB also acknowledges the CSIC-JAE pre-doctoral program, co-funded by the European Social Fund. This work was supported by the Marie Curie-IRSES project (PVICOKEST, GA: 269167), Marie Curie-ITN project (KESTCELL, GA: 316488), DAAD project (INTERKEST, Ref: 57050358), and MINECO projects (SUNBEAM, ENE2013-49136-C4-3-R) (TEC2012-38901-C02-01). A. Scheu is acknowledged for GDOES measurement

NEMO oligomerization and its ubiquitin-binding properties

The IKK [IκB (inhibitory κB) kinase] complex is a key regulatory component of NF-κB (nuclear factor κB) activation and is responsible for mediating the degradation of IκB, thereby allowing nuclear translocation of NF-κB and transcription of target genes. NEMO (NF-κB essential modulator), the regulatory subunit of the IKK complex, plays a pivotal role in this process by integrating upstream signals, in particular the recognition of polyubiquitin chains, and relaying these to the activation of IKKα and IKKβ, the catalytic subunits of the IKK complex. The oligomeric state of NEMO is controversial and the mechanism by which it regulates activation of the IKK complex is poorly understood. Using a combination of hydrodynamic techniques we now show that apo-NEMO is a highly elongated, dimeric protein that is in weak equilibrium with a tetrameric assembly. Interaction with peptides derived from IKKβ disrupts formation of the tetrameric NEMO complex, indicating that interaction with IKKα and IKKβ and tetramerization are mutually exclusive. Furthermore, we show that NEMO binds to linear di-ubiquitin with a stoichiometry of one molecule of di-ubiquitin per NEMO dimer. This stoichiometry is preserved in a construct comprising the second coiled-coil region and the leucine zipper and in one that essentially spans the full-length protein. However, our data show that at high di-ubiquitin concentrations a second weaker binding site becomes apparent, implying that two different NEMO–di-ubiquitin complexes are formed during the IKK activation process. We propose that the role of these two complexes is to provide a threshold for activation, thereby ensuring sufficient specificity during NF-κB signalling

Iron and obesity status-associated insulin resistance influence circulating fibroblast-growth factor-23 concentrations

Fibroblast growth factor 23 (FGF-23) is known to be produced by the bone and linked to metabolic risk. We aimed to explore circulating FGF-23 in association with fatness and insulin sensitivity, atherosclerosis and bone mineral density (BMD). Circulating intact FGF-23 (iFGF-23) and C-terminal (CtFGF-23) concentrations (ELISA) were measured in 133 middle aged men from the general population in association with insulin sensitivity (Cohort 1); and in association with fat mass and bone mineral density (DEXA) and atherosclerosis (intima media thickness, IMT) in 78 subjects (52 women) with a wide range of adiposity (Cohort 2). Circulating iFGF-23 was also measured before and after weight loss. In all subjects as a whole, serum intact and C-terminal concentrations were linearly and positively associated with BMI. In cohort 1, both serum iFGF-23 and CtFGF-23 concentrations increased with insulin resistance. Serum creatinine contributed to iFGF-23 variance, while serum ferritin and insulin sensitivity (but not BMI, age or serum creatinine) contributed to 17% of CtFGF-23 variance. In cohort 2, CtFGF-23 levels were higher in women vs. men, and increased with BMI, fat mass, fasting and post-load serum glucose, insulin, HOMA-IR and PTH, being negatively associated with circulating vitamin D and ferritin levels. The associations of CtFGF-23 with bone density in the radius, lumbar spine and carotid IMT were no longer significant after controlling for BMI. Weight loss led to decreased iFGF-23 concentrations. In summary, the associations of circulating FGF-23 concentration with parameters of glucose metabolism, bone density and atherosclerosis are dependent on iron and obesity status-associated insulin resistance