Asymmetric Design of Control Barrier Function for Multiagent Autonomous Robotic Systems

In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed autonomous mobile robots, is expected to effectively perform cooperative tasks such as searching in a certain area. Therefore, collision avoidance must be considered when implementing MARS in the real world. The CBF is effective for solving collision-avoidance problems. However, in extreme conditions where many robots congregate at one location, the CBF constraints that ensure a safe distance between robots may be violated. We theoretically demonstrate that this problem can occur in certain situations, and introduce an asymmetric design for the inequality constraints of CBF. We asymmetrically decentralized inequality constraints with weight functions using the absolute speed of the robot so that other robots can take over the constraints of the robot in severe condition. We demonstrate the effectiveness of the proposed method in a two-dimensional situation wherein multiple robots congregate at one location. We implement the proposed method on real robots and the confirmed the effectiveness of this theory

Large-scale analysis of full-length cDNAs from the tomato (Solanum lycopersicum) cultivar Micro-Tom, a reference system for the Solanaceae genomics

<p>Abstract</p> <p>Background</p> <p>The Solanaceae family includes several economically important vegetable crops. The tomato (<it>Solanum lycopersicum</it>) is regarded as a model plant of the Solanaceae family. Recently, a number of tomato resources have been developed in parallel with the ongoing tomato genome sequencing project. In particular, a miniature cultivar, Micro-Tom, is regarded as a model system in tomato genomics, and a number of genomics resources in the Micro-Tom-background, such as ESTs and mutagenized lines, have been established by an international alliance.</p> <p>Results</p> <p>To accelerate the progress in tomato genomics, we developed a collection of fully-sequenced 13,227 Micro-Tom full-length cDNAs. By checking redundant sequences, coding sequences, and chimeric sequences, a set of 11,502 non-redundant full-length cDNAs (nrFLcDNAs) was generated. Analysis of untranslated regions demonstrated that tomato has longer 5'- and 3'-untranslated regions than most other plants but rice. Classification of functions of proteins predicted from the coding sequences demonstrated that nrFLcDNAs covered a broad range of functions. A comparison of nrFLcDNAs with genes of sixteen plants facilitated the identification of tomato genes that are not found in other plants, most of which did not have known protein domains. Mapping of the nrFLcDNAs onto currently available tomato genome sequences facilitated prediction of exon-intron structure. Introns of tomato genes were longer than those of Arabidopsis and rice. According to a comparison of exon sequences between the nrFLcDNAs and the tomato genome sequences, the frequency of nucleotide mismatch in exons between Micro-Tom and the genome-sequencing cultivar (Heinz 1706) was estimated to be 0.061%.</p> <p>Conclusion</p> <p>The collection of Micro-Tom nrFLcDNAs generated in this study will serve as a valuable genomic tool for plant biologists to bridge the gap between basic and applied studies. The nrFLcDNA sequences will help annotation of the tomato whole-genome sequence and aid in tomato functional genomics and molecular breeding. Full-length cDNA sequences and their annotations are provided in the database KaFTom <url>http://www.pgb.kazusa.or.jp/kaftom/</url> via the website of the National Bioresource Project Tomato <url>http://tomato.nbrp.jp</url>.</p

Coordinated and Cohesive Movement of Two Small Conspecific Fish Induced by Eliciting a Simultaneous Optomotor Response

BACKGROUND: In animal groups such as herds, schools, and flocks, a certain distance is maintained between adjacent individuals, allowing them to move as a cohesive unit. Proximate causations of the cohesive and coordinated movement under dynamic conditions, however, have been poorly understood. METHODOLOGY/PRINCIPAL FINDINGS: We established a novel and simple behavioral assay using pairs of small fish (medaka and dwarf pufferfish) by eliciting a simultaneous optomotor response (OMR). We demonstrated that two homospecific fish began to move cohesively and maintained a distance of 2 to 4 cm between them when an OMR was elicited simultaneously in the fish. The coordinated and cohesive movement was not exhibited under a static condition. During the cohesive movement, the relative position of the two fish was not stable. Furthermore, adult medaka exhibited the cohesive movement but larvae did not, despite the fact that an OMR could be elicited in larvae, indicating that this ability to coordinate movement develops during maturation. The cohesive movement was detected in homospecific pairs irrespective of body-color, sex, or albino mutation, but was not detected between heterospecific pairs, suggesting that coordinated movement is based on a conspecific interaction. CONCLUSIONS/SIGNIFICANCE: Our findings demonstrate that coordinated behavior between a pair of animals was elicited by a simultaneous OMR in two small fish. This is the first report to demonstrate induction of a schooling-like movement in a pair of fish by an OMR and to investigate the effect of age, sex, body color, and species on coordination between animals under a dynamic condition

Stearoyl-CoA Desaturase-1 (SCD1) Augments Saturated Fatty Acid-Induced Lipid Accumulation and Inhibits Apoptosis in Cardiac Myocytes

Mismatch between the uptake and utilization of long-chain fatty acids in the myocardium leads to abnormally high intracellular fatty acid concentration, which ultimately induces myocardial dysfunction. Stearoyl-Coenzyme A desaturase-1 (SCD1) is a rate-limiting enzyme that converts saturated fatty acids (SFAs) to monounsaturated fatty acids. Previous studies have shown that SCD1-deficinent mice are protected from insulin resistance and diet-induced obesity; however, the role of SCD1 in the heart remains to be determined. We examined the expression of SCD1 in obese rat hearts induced by a sucrose-rich diet for 3 months. We also examined the effect of SCD1 on myocardial energy metabolism and apoptotic cell death in neonatal rat cardiac myocytes in the presence of SFAs. Here we showed that the expression of SCD1 increases 3.6-fold without measurable change in the expression of lipogenic genes in the heart of rats fed a high-sucrose diet. Forced SCD1 expression augmented palmitic acid-induced lipid accumulation, but attenuated excess fatty acid oxidation and restored reduced glucose oxidation. Of importance, SCD1 substantially inhibited SFA-induced caspase 3 activation, ceramide synthesis, diacylglycerol synthesis, apoptotic cell death, and mitochondrial reactive oxygen species (ROS) generation. Experiments using SCD1 siRNA confirmed these observations. Furthermore, we showed that exposure of cardiac myocytes to glucose and insulin induced SCD1 expression. Our results indicate that SCD1 is highly regulated by a metabolic syndrome component in the heart, and such induction of SCD1 serves to alleviate SFA-induced adverse fatty acid catabolism, and eventually to prevent SFAs-induced apoptosis

Enhancing rare variant interpretation in inherited arrhythmias through quantitative analysis of consortium disease cohorts and population controls.

PURPOSE: Stringent variant interpretation guidelines can lead to high rates of variants of uncertain significance (VUS) for genetically heterogeneous disease like long QT syndrome (LQTS) and Brugada syndrome (BrS). Quantitative and disease-specific customization of American College of Medical Genetics and Genomics/Association for Molecular Pathology (ACMG/AMP) guidelines can address this false negative rate. METHODS: We compared rare variant frequencies from 1847 LQTS (KCNQ1/KCNH2/SCN5A) and 3335 BrS (SCN5A) cases from the International LQTS/BrS Genetics Consortia to population-specific gnomAD data and developed disease-specific criteria for ACMG/AMP evidence classes-rarity (PM2/BS1 rules) and case enrichment of individual (PS4) and domain-specific (PM1) variants. RESULTS: Rare SCN5A variant prevalence differed between European (20.8%) and Japanese (8.9%) BrS patients (p = 5.7 × 10-18) and diagnosis with spontaneous (28.7%) versus induced (15.8%) Brugada type 1 electrocardiogram (ECG) (p = 1.3 × 10-13). Ion channel transmembrane regions and specific N-terminus (KCNH2) and C-terminus (KCNQ1/KCNH2) domains were characterized by high enrichment of case variants and >95% probability of pathogenicity. Applying the customized rules, 17.4% of European BrS and 74.8% of European LQTS cases had (likely) pathogenic variants, compared with estimated diagnostic yields (case excess over gnomAD) of 19.2%/82.1%, reducing VUS prevalence to close to background rare variant frequency. CONCLUSION: Large case-control data sets enable quantitative implementation of ACMG/AMP guidelines and increased sensitivity for inherited arrhythmia genetic testing

Wave-Type Interaction within a Robotic Swarm System for Decentralized Estimation of Global Geometric States

For a robotic swarm system composed of autonomous mobile robots, controlling and using asymmetric global geometric states promotes the task performance of the swarm. This paper presents a systematic method for estimating asymmetric global geometric states over a swarm system. To overcome the limitations of local observation or communication ability, we propose a wave-type interaction among neighboring robots. We assume that each robot has a scalar state variable called a phase, which is manipulated through interactions. Through the analysis of eigenvalues of a graph Laplacian matrix corresponding to a local communication network of robots, we show that a robot can estimate global states, such as the size of an entire swarm, by frequency analysis of its phase. We also analyzed the stability of the wave-type interaction based on von-Neumann stability. We verified the proposed method by computer simulations, in which robots in a swarm detected the deformation in the shape of the swarm when the swarm was passing through a narrow area. The result will contribute to building a control system for swarms that can manipulate their shape or characteristics to adapt themselves based on tasks or environmental requirements

STABLE FILTERING FOR ARTIFICIAL PHEROMONE POTENTIAL FIELD CONSTRUCTED BY MOBILE ROBOTS AND PASSIVE RFID TAGS

ABSTRAC

Switching mechanism of sensor-motor coordination through an oscillator network model

Insects have small brains, but their behavior is highly adaptive; this leads us to conclude that their brains possess a simple adaptation mechanism. This paper focuses on the pheromone processing of crickets, varying their aggression depending on their global neural connection, and proposes a behavior selection mechanism that can be controlled by network transformation. The controller is composed of an oscillator network, and its behavior is decided by the synchrony of organic oscillations. Furthermore, every network component corresponds to a certain brain module. A model is realized by using an analog circuit, and it is applied to a simple robot that displays the behavior of a real insect

Odor Source Localization in Obstacle Regions Using Switching Planning Algorithms with a Switching Framework

Odor source localization (OSL) robots are essential for safety and rescue teams to overcome the problem of human exposure to hazardous chemical plumes. However, owing to the complicated geometry of environments, it is almost impossible to construct the dispersion model of the odor plume in practical situations to be used for probabilistic odor source search algorithms. Additionally, as time is crucial in OSL tasks, dynamically modifying the robot&rsquo;s balance of emphasis between exploration and exploitation is desired. In this study, we addressed both the aforementioned problems by simplifying the environment with an obstacle region into multiple sub-environments with different resolutions. Subsequently, a framework was introduced to switch between the Infotaxis and Dijkstra algorithms to navigate the agent and enable it to reach the source swiftly. One algorithm was used to guide the agent in searching for clues about the source location, whereas the other facilitated the active movement of the agent between sub-environments. The proposed algorithm exhibited improvements in terms of success rate and search time. Furthermore, the implementation of the proposed framework on an autonomous mobile robot verified its effectiveness. Improvements were observed in our experiments with a robot when the success rate increased 3.5 times and the average moving steps of the robot were reduced by nearly 35%