An orchestrator for networked control systems and its application to collision avoidance in multiple mobile robots.

Networked Control System (NCS) consists of controlled distributed nodes while an Orchestrator functions as a central coordinator for controlling the distributed tasks. The NCSs have challenges of coordination and right execution sequencing of operations. This paper proposes a framework named Controlled Orchestrator (COrch) for coordinating and sequencing the tasks of NCSs. An experiment was performed with three robotic vehicles that are considered as individual control system. Furthermore, the proposed orchestrator COrch decided the sequencing of operations of the robots while performing obstacle avoidance task for spatially distributed robots in parallel. COrch is used to control this task by utilizing the concept of Remote Method Invocation (RMI) and multithreading. RMI is used to prepare the software for controlling the robots at remote end while multithreading is used to perform parallel and synchronize execution of multiple robots. The remote end software generates signals for sequential, parallel and hybrid mode execution

Assessment of Toxicity of Some Penta- and Hexacoordinated Organotin(IV) and Tetracoordinated Tin(II) Complexes of Heterocyclic β-Diketones

A number of penta- and hexacoordinated organotin(IV) complexes and tetracoordinated tin(II) complexes of compositions [Formula: see text] (where R = − CH(3), −p−ClC(6)H(4), and −C(6)H(5)), [Formula: see text] (where R = −CH(3), and −C(6)H(5)), and Sn(II) [Formula: see text] (where R = −p−ClC(6)H(4) and −C(6)H(5)) were screened for their toxicity against Musca domestica (house fly). In general, organotin(IV) complexes contribute more to the activity than tin(II) complexes

Surgical outcomes of borderline breast lesions detected by needle biopsy in a breast screening program

<p>Abstract</p> <p>Background</p> <p>The Australian Capital Territory and South East New South Wales branch of BreastScreen Australia (BreastScreen ACT&SENSW) performs over 20,000 screening mammograms annually. This study describes the outcome of surgical biopsies of the breast performed as a result of a borderline lesion being identified after screening mammography and subsequent workup.</p> <p>A secondary aim was to identify any parameters, such as a family history of breast cancer, or radiological findings that may indicate which borderline lesions are likely to be upgraded to malignancy after surgery.</p> <p>Methods</p> <p>From a period of just over eight years, all patients of BreastScreen ACT&SENSW who were diagnosed with a borderline breast lesion were identified. These women had undergone needle biopsy in Breastscreen ACT&SENSW and either atypical ductal hyperplasia (ADH), flat epithelial atypia (FEA), atypical lobular hyperplasia (ALH), radial scar/complex sclerosing lesion, papillary lesion, mucocoele-like lesion (MLL) or lobular carcinoma in situ (LCIS) was found. Final outcomes for each type of borderline lesion after referral for surgical biopsy were recorded and analysed. Results of the surgical biopsy were compared to the type of needle biopsy and its result, radiological findings and family history status.</p> <p>Results</p> <p>Of the 94 surgical biopsies performed due to the presence of a borderline breast lesion, 20% showed benign pathology, 55% remained as borderline lesions, 17% showed non-invasive malignancy and 7% showed invasive malignancy. VALCS biopsy was the most common needle biopsy method used to identify the lesions in this study (76%). Malignant outcomes resulted from 24% of the surgical biopsies, with the most common malignant lesion being non-comedo ductal carcinoma <it>in situ </it>(DCIS). The most common borderline lesion for which women underwent surgical biopsy was ADH (38%). Of these women, 22% were confirmed as ADH on surgical biopsy and 47% with a malignancy.</p> <p>Conclusions</p> <p>Further research is required to determine whether characteristics of the mammographic lesion (particularly calcification patterns), the area targeted for biopsy and number of core samples retrieved, can indicate a closer correlation with eventual pathology. This study identified no findings in the diagnostic assessment that could exclude women with borderline lesions from surgical biopsy.</p

Organic-inorganic hybrid complexes of Lead(II) of sterically demanding heterocyclic β-diketones and flexible N-protected amino acids

202-208A new set of organic-inorganic hybrid complexes of lead(II) of sterically demanding heterocyclic β-diketones and flexible N-protected amino acids of composition Pb[RC(O)CH3][CHR'COO] (where R = C6H5, p-ClC6H4, CH3 and R’ = CH(CH3)C2H5, CH2CH(CH3)2 and CH(CH3)2 ) has been generated by the reactions of freshly prepared lead isopropoxide with sterically demanding heterocyclic β-diketones (LH) and flexible N-protected amino acids (AH) in 1:1:1 molar ratio in refluxing dry benzene . These lead(II) complexes of mixed organic ligands have been characterized on the basis of physico-chemical and spectroscopic studies

Toxicity of Certain Penta-Coordinated Organotin(IV) and Tetra-Coordinated Tin(II) Complexes of Heterocyclic β-Diketones Against the Larvae of Aedes Aegypti (Liston)

Some organotin(IV) and tin(II) complexes of composition R3Sn[R'COC:CON(C6H5)N:CCH3] (where R=C4H9, R'=CH3, C3H5, p-ClC6H4; R=C6H5, R'=C6H5 and p-ClC6H4) and Sn[p-ClC6H4COC:CON(C6H5)N:CCH3]2 were screened for their toxicity against Aedes aegypti larvae. Organotin(IV) complexes were more active than tin(II) complexes