Distributed multi-agent pathfinding in horizontal transportation

Horizontal transportation in maritime container terminals plays a crucial role in ensuring safe, efficient, and cost-effective operations. Heavy working machines, such as straddle carriers, trucks, and automated guided vehicles, transport containers between cranes, creating complex routing problems known as multi-agent pathfinding (MAPF) problems. Existing solutions may not adequately address the unique challenges presented by container terminals, necessitating the development of new algorithms. This thesis aims to develop and demonstrate a distributed MAPF algorithm for horizontal transportation in container terminals. The MAPF problem is first formulated as a binary linear programming (BLP) model by expressing the actions in the container terminal using a directed pseudograph. Optimal solutions are obtained using PYOMO, an open-source Python-based optimization software. The Augmented Lagrangian, a graph pathfinding algorithm, and a stochastic element are then employed to create a sub-optimal, distributed algorithm. The developed algorithm is evaluated against an optimal solution and a reference method that prioritizes calculating the path for one agent at a time while taking into account previously calculated paths. A simulator is set up to emulate horizontal transportation in a maritime container terminal, by modeling the terminal as a graph in MATLAB. In the simulator, MAPF algorithms are applied in combination with a high-level coordinator assigning destinations. The experimental part of this thesis investigates the trade-off between solution time (iterations) and solution quality by tuning algorithm parameters and evaluating the performance of the distributed algorithm in comparison to the priority-based method under two different map layouts, particularly addressing the presence of a bottleneck. The results demonstrate the need to adapt the algorithm's parameters and strategies according to specific environments and map layouts, to ensure good performance across various scenarios. The main contribution of this thesis lies in the development of a adaptable, distributed MAPF solution that can ultimately address diverse scenarios and environments. Merikonttiterminaaleissa konttien vaakatasoinen kuljettaminen on keskeinen tekijä turvallisen, tehokkaan ja kustannustehokkaan toiminnan varmistamisessa. Raskaat työkoneet, kuten konttilukit, kuorma-autot ja automaattisti ohjatut ajoneuvot (AGV:t), kuljettavat kontteja nosturien välillä, luoden monimutkaisia reititysongelmia, joita kutsutaan monitoimija-reitinhaku (MAPF) -ongelmiksi. Olemassa olevat ratkaisut eivät riittävästi käsittele konttiterminaaleille asetettuja erityisiä haasteita, mikä edellyttää uusien hajautettujen MAPF-algoritmien kehittämistä. Tämän diplomityön tavoitteena on kehittää ja esitellä hajautettu MAPF-algoritmi vaakasuuntaiseen kuljetukseen konttiterminaaleissa. MAPF-ongelma mallinnetaan ensin binääriseksi lineaariseksi ohjelmointimalliksi (BLP), jossa konttiterminaalissa liikkuminen mallinnetaan suunnattuna pseudograafina. Optimaalisia ratkaisuja tutkitaan käyttämällä PYOMO-ohjelmistoa, joka on avoimen lähdekoodin Python-pohjainen optimointiohjelmisto. Tämän jälkeen laajennettua Lagrangen kertoimien menetelmää, graafin polunetsintä algoritmia ja stokastistista elementtiä käytetään luomaan lähes optimaalinen, hajautettavissa oleva algoritmi. Kehitettyä algoritmia arvioidaan vertaamalla sitä optimaaliseen ratkaisuun ja viite-menetelmään, joka priorisoi polkujen laskemista yhden agentin kerrallaan ottaen huomioon aiemmin lasketut polut. Simulaattori rakennetaan jäljittelemään vaakasuuntaista kuljetusta merikonttiterminaaleissa, mallintamalla terminaali graafina MATLABissa. Simulaattorissa MAPF-algoritmeja sovelletaan yhdessä korkean tason koordinaattorin kanssa, joka määrittelee määränpäät. Diplomityön kokeellisessa osuudessa tarkastellaan ratkaisuajan (iteraatioiden) ja ratkaisun laadun välistä tasapainoa kokeilemalla erilaisia parametreja ja arvioimalla hajautetun algoritmin suorituskykyä verrattuna prioriteettipohjaiseen menetelmään kahden erilaisen karttapohjan päällä, keskittyen erityisesti pullonkaulan lisäämisen tuomiin vaikutuksiin. Tulokset osoittavat, että algoritmin parametrien ja strategioiden mukauttaminen erityisiin ympäristöihin ja karttapohjiin on tarpeen, jos halutaan varmistua tulosten olevan mahdollisimman lähellä optimaalisuutta erilaisissa skenaarioissa. Tämän diplomityön pääasiallinen kontribuutio on joustavan, hajautetun MAPF-ratkaisun kehittäminen, jolla voidaan tulevaisuudessa käsitellä erilaisia tilanteita ja ympäristöjä

The evolutionary legacy of size-selective harvesting extends from genes to populations

Size-selective harvesting is assumed to alter life histories of exploited fish populations, thereby negatively affecting population productivity, recovery, and yield. However, demonstrating that fisheries-induced phenotypic changes in the wild are at least partly genetically determined has proved notoriously difficult. Moreover, the population-level consequences of fisheries-induced evolution are still being controversially discussed. Using an experimental approach, we found that five generations of size-selective harvesting altered the life histories and behavior, but not the metabolic rate, of wild-origin zebrafish (Danio rerio). Fish adapted to high positively size selective fishing pressure invested more in reproduction, reached a smaller adult body size, and were less explorative and bold. Phenotypic changes seemed subtle but were accompanied by genetic changes in functional loci. Thus, our results provided unambiguous evidence for rapid, harvest-induced phenotypic and evolutionary change when harvesting is intensive and size selective. According to a life-history model, the observed life-history changes elevated population growth rate in harvested conditions, but slowed population recovery under a simulated moratorium. Hence, the evolutionary legacy of size-selective harvesting includes populations that are productive under exploited conditions, but selectively disadvantaged to cope with natural selection pressures that often favor large body size.Peer reviewe

Role of ALD Al2O3 Surface Passivation on the Performance of p-Type Cu2O Thin Film Transistors

High-performance p- type oxide thin film transistors (TFTs) have great potential for many semiconductor applications. However, these devices typically suffer from low hole mobility and high off-state currents. We fabricated p-type TFTs with a phase-pure polycrystalline Cu2O semiconductor channel grown by atomic layer deposition (ALD). The TFT switching characteristics were improved by applying a thin ALD Al2O3 passivation layer on the Cu2O channel, followed by vacuum annealing at 300 degrees C. Detailed characterization by transmission electron microscopy-energy dispersive X-ray analysis and X-ray photoelectron spectroscopy shows that the surface of Cu2O is reduced following Al2O3 deposition and indicates the formation of a 1-2 nm thick CuAlO2 interfacial layer. This, together with field-effect passivation caused by the high negative fixed charge of the ALD Al2O3, leads to an improvement in the TFT performance by reducing the density of deep trap states as well as by reducing the accumulation of electrons in the semiconducting layer in the device off-state.Peer reviewe

Can fisheries-induced evolution shift reference points for fisheries management?

Heino, M., Baulier, L., Boukal, D. S., Ernande, B., Johnston, F. D., Mollet, F. M., Pardoe, H., Therkildsen, N. O., Uusi-Heikkilä, S., Vainikka, A., Arlinghaus, R., Dankel, D. J., Dunlop, E. S., Eikeset, A. M., Enberg, K., Engelhard G. H., Jørgensen, C., Laugen, A. T., Matsumura, S., Nusslé, S., Urbach, D., Whitlock, R., Rijnsdorp, A. D., and Dieckmann, U. 2013. Can fisheries-induced evolution shift reference points for fisheries management? - ICES Journal of Marine Science, 70: 707-721. Biological reference points are important tools for fisheries management. Reference points are not static, but may change when a population's environment or the population itself changes. Fisheries-induced evolution is one mechanism that can alter population characteristics, leading to "shifting” reference points by modifying the underlying biological processes or by changing the perception of a fishery system. The former causes changes in "true” reference points, whereas the latter is caused by changes in the yardsticks used to quantify a system's status. Unaccounted shifts of either kind imply that reference points gradually lose their intended meaning. This can lead to increased precaution, which is safe, but potentially costly. Shifts can also occur in more perilous directions, such that actual risks are greater than anticipated. Our qualitative analysis suggests that all commonly used reference points are susceptible to shifting through fisheries-induced evolution, including the limit and "precautionary” reference points for spawning-stock biomass, Blim and Bpa, and the target reference point for fishing mortality, F0.1. Our findings call for increased awareness of fisheries-induced changes and highlight the value of always basing reference points on adequately updated information, to capture all changes in the biological processes that drive fish population dynamic

The state of the Martian climate

60°N was +2.0°C, relative to the 1981–2010 average value (Fig. 5.1). This marks a new high for the record. The average annual surface air temperature (SAT) anomaly for 2016 for land stations north of starting in 1900, and is a significant increase over the previous highest value of +1.2°C, which was observed in 2007, 2011, and 2015. Average global annual temperatures also showed record values in 2015 and 2016. Currently, the Arctic is warming at more than twice the rate of lower latitudes

A dust-enshrouded tidal disruption event with a resolved radio jet in a galaxy merger

Tidal disruption events (TDEs) are transient flares produced when a star is ripped apart by the gravitational field of a supermassive black hole (SMBH). We have observed a transient source in the western nucleus of the merging galaxy pair Arp 299 that radiated >1.5 × 10 erg at infrared and radio wavelengths but was not luminous at optical or x-ray wavelengths. We interpret this as a TDE with much of its emission reradiated at infrared wavelengths by dust. Efficient reprocessing by dense gas and dust may explain the difference between theoretical predictions and observed luminosities of TDEs. The radio observations resolve an expanding and decelerating jet, probing the jet formation and evolution around a SMBH. Copyright © 2018, American Association for the Advancement of ScienceS.M. acknowledges financial support from the Academy of Finland (pmject 8120503). The research leading to these mats has received funding from the European.. Commission Seventh Framework Programme (FP/2007-2013) under grant agreement number & 227290, 283393 (RadioNc-t) and 60725 (HELP). AA., M.P.-T., N.R.-O. and R.H.T. acknowledge support from the Spanish MINECO through grants AYA2012-38491-002-02 and AYA2015 63939 C2 1 P. P.G.J. acknowledges support from European Research Council Consolidator Grant 647208. C.R.-C. acknowledges support by the Ministry of Economy, Development and Tourism's Millennium Science Initiative through grant 10120009, awarded to The Millennium. Institute of Astrophysics, MAS Chile, and from CONICYT through FONDECYT grant 3150238 and China-CON1CYT fund CAS160313. P.M. and M.A.A. acknowledge support from the ERC research grant CAMAP-250276, and partial support from the Spanish MINECO grant AYA2015-66889C2-1P Lard the local Valencia government ghat PROMETE0-11-2014069. FIE. acknowledges support from a Science Foundation Ireland-Royal Society University Research Fellowship. D.L.C. acknowledges support from grants ST/0001901/4 ST/J001368/1, ST/ K001051/1, and st/N0001138/1. P.V. acknowledges support from the National Research Foundation of South Africa.. J.H. acknowledges financial support tom the Finis h ChAth ral Fouridation and the Virile), YIP and Kahle Vais8I8 Foundation. J.K. acknowledges financial support from the Academy of Finland (grant 311138)

Cytoplasmic keratins couple with and maintain nuclear envelope integrity in colonic epithelial cells

Keratin intermediate filaments convey mechanical stability and protection against stress to epithelial cells. Keratins are essential for colon health, as seen in keratin 8 knockout (K8−/−) mice exhibiting a colitis phenotype. We hypothesized that keratins support the nuclear envelope and lamina in colonocytes. K8−/− colonocytes in vivo exhibit significantly decreased levels of lamins A/C, B1, and B2 in a colon-specific and cell-intrinsic manner. CRISPR/Cas9- or siRNA-mediated K8 knockdown in Caco-2 cells similarly decreased lamin levels, which recovered after reexpression of K8 following siRNA treatment. Nuclear area was not decreased, and roundness was only marginally increased in cells without K8. Down-regulation of K8 in adult K8flox/flox;Villin-CreERt2 mice following tamoxifen administration significantly decreased lamin levels at day 4 when K8 levels had reduced to 40%. K8 loss also led to reduced levels of plectin, LINC complex, and lamin-associated proteins. While keratins were not seen in the nucleoplasm without or with leptomycin B treatment, keratins were found intimately located at the nuclear envelope and complexed with SUN2 and lamin A. Furthermore, K8 loss in Caco-2 cells compromised nuclear membrane integrity basally and after shear stress. In conclusion, colonocyte K8 helps maintain nuclear envelope and lamina composition and contributes to nuclear integrity.</p

First Search for Exclusive Diphoton Production at High Mass with Tagged Protons in Proton-Proton Collisions at root s=13 TeV

A search for exclusive two-photon production via photon exchange in proton-proton collisions, pp -> p gamma gamma p with intact protons, is presented. The data correspond to an integrated luminosity of 9.4 fb(-1) collected in 2016 using the CMS and TOTEM detectors at a center-of-mass energy of 13 TeVat the LHC. Events are selected with a diphoton invariant mass above 350 GeVand with both protons intact in the final state, to reduce backgrounds from strong interactions. The events of interest are those where the invariant mass and rapidity calculated from the momentum losses of the forward-moving protons match the mass and rapidity of the central, two-photon system. No events are found that satisfy this condition. Interpreting this result in an effective dimension-8 extension of the standard model, the first limits are set on the two anomalous four-photon coupling parameters. If the other parameter is constrained to its standard model value, the limits at 95% confidence level are vertical bar zeta(1)vertical bar < 2.9 x 10(-1)3 GeV-4 and vertical bar zeta(2)vertical bar < 6.0 x 10(-13) GeV-4.Peer reviewe

Patient survival and tumor characteristics associated with CHEK2:p.I157T – findings from the Breast Cancer Association Consortium

Abstract Background P.I157T is a CHEK2 missense mutation associated with a modest increase in breast cancer risk. Previously, another CHEK2 mutation, the protein truncating c.1100delC has been associated with poor prognosis of breast cancer patients. Here, we have investigated patient survival and characteristics of breast tumors of germ line p.I157T carriers. Methods We included in the analyses 26,801 European female breast cancer patients from 15 studies participating in the Breast Cancer Association Consortium. We analyzed the association between p.I157T and the clinico-pathological breast cancer characteristics by comparing the p.I157T carrier tumors to non-carrier and c.1100delC carrier tumors. Similarly, we investigated the p.I157T associated risk of early death, breast cancer-associated death, distant metastasis, locoregional relapse and second breast cancer using Cox proportional hazards models. Additionally, we explored the p.I157T-associated genomic gene expression profile using data from breast tumors of 183 Finnish female breast cancer patients (ten p.I157T carriers) (GEO: GSE24450). Differential gene expression analysis was performed using a moderated t test. Functional enrichment was investigated using the DAVID functional annotation tool and gene set enrichment analysis (GSEA). The tumors were classified into molecular subtypes according to the St Gallen 2013 criteria and the PAM50 gene expression signature. Results P.I157T was not associated with increased risk of early death, breast cancer-associated death or distant metastasis relapse, and there was a significant difference in prognosis associated with the two CHEK2 mutations, p.I157T and c.1100delC. Furthermore, p.I157T was associated with lobular histological type and clinico-pathological markers of good prognosis, such as ER and PR expression, low TP53 expression and low grade. Gene expression analysis suggested luminal A to be the most common subtype for p.I157T carriers and CDH1 (cadherin 1) target genes to be significantly enriched among genes, whose expression differed between p.I157T and non-carrier tumors. Conclusions Our analyses suggest that there are fundamental differences in breast tumors of CHEK2:p.I157T and c.1100delC carriers. The poor prognosis associated with c.1100delC cannot be generalized to other CHEK2 mutations