Using Negotiation to Reduce Redundant Autonomous Mobile Program Movements

Distributed load managers exhibit thrashing where tasks are repeatedly moved between locations due to incomplete global load information. This paper shows that systems of Autonomous Mobile Programs (AMPs) exhibit the same behaviour, identifying two types of redundant movement and terming them greedy effects. AMPs are unusual in that, in place of some external load management system, each AMP periodically recalculates network and program parameters and may independently move to a better execution environment. Load management emerges from the behaviour of collections of AMPs. The paper explores the extent of greedy effects by simulation, and then proposes negotiating AMPs (NAMPs) to ameliorate the problem. We present the design of AMPs with a competitive negotiation scheme (cNAMPs), and compare their performance with AMPs by simulation

Simulating Autonomous Mobile Programs on Networks

Autonomous mobile programs (AMPs) have been proposed for load management in dynamic networks. An AMP is aware of its resource needs and periodically seeks a better location in the network to reduce execution time. AMPs have previously been measured using mobile Java Voyager on local area networks (LANs). We have constructed a simulation model of AMPs and reproduced 4 sets of experiments on homogeneous networks, i.e. networks where all locations have the same processor speed, and 2 sets of experiments on heterogeneous networks with collection of large and small AMPs. The results show that simulated collections of AMPs obtain similar balanced states to those reached in the real experiments, and have only minor differences from real experimental results. The simulation model gives an opportunity to explore the greedy effect that can be observed in the real experiments. This gives us confidence to apply the simulation model for further investigation of AMP behaviour, including behaviours on wide area networks

Climate‐driven evolutionary change in reproductive and early‐acting life‐history traits in the perennial grass Festuca ovina

Reproductive and early‐acting life‐history traits are likely to be particularly important determinants of plant fitness under a changing climate. There have, however, been few robust tests of the evolution of these traits under chronic climate change in natural ecosystems. Such studies are urgently needed, to evaluate the contribution of evolutionary change to population persistence. Here, we examine climate‐driven evolutionary change in reproductive and early‐acting plant life‐history traits in the long‐lived perennial plant, Festuca ovina. We collected established plants of F. ovina from species‐rich calcareous grassland at the Buxton Climate Change Impacts Laboratory (BCCIL), after 17 years of in situ experimental drought treatment. P1 plants collected from drought‐treated and control (ambient climate) plots at BCCIL were used to create an open‐pollinated F1 progeny array, which was subsequently validated using microsatellite markers to establish a robust bi‐parental pedigree. We measured the timing of germination and seed mass in the F1 progeny, the P1 paternal contribution to F1 offspring (paternal reproductive success), and assessed the effects of flowering time on the mating system. F1 seed with ancestry in drought‐treated plots at BCCIL germinated significantly later than seed derived from individuals from control plots. P1 plants from the drought treatment flowered significantly earlier than those from the control plots in summer 2012, but not in 2013. Male reproductive success was also lower in P1 plants collected from drought plots than those from control plots. Furthermore, our pedigree revealed that mating among parents of the F1 progeny had been assortative with respect to flowering time. Synthesis. Our study shows that chronic drought treatment at Buxton Climate Change Impacts Laboratory has driven rapid evolutionary change in reproductive and early‐acting life‐history traits in Festuca ovina, and suggests that evolutionary differentiation may be reinforced through changes in flowering time that reduce the potential for gene flow

Reliable scalable symbolic computation: The design of SymGridPar2

Symbolic computation is an important area of both Mathematics and Computer Science, with many large computations that would benefit from parallel execution. Symbolic computations are, however, challenging to parallelise as they have complex data and control structures, and both dynamic and highly irregular parallelism. The SymGridPar framework (SGP) has been developed to address these challenges on small-scale parallel architectures. However the multicore revolution means that the number of cores and the number of failures are growing exponentially, and that the communication topology is becoming increasingly complex. Hence an improved parallel symbolic computation framework is required. This paper presents the design and initial evaluation of SymGridPar2 (SGP2), a successor to SymGridPar that is designed to provide scalability onto 10^5 cores, and hence also provide fault tolerance. We present the SGP2 design goals, principles and architecture. We describe how scalability is achieved using layering and by allowing the programmer to control task placement. We outline how fault tolerance is provided by supervising remote computations, and outline higher-level fault tolerance abstractions. We describe the SGP2 implementation status and development plans. We report the scalability and efficiency, including weak scaling to about 32,000 cores, and investigate the overheads of tolerating faults for simple symbolic computations

Reliable distribution of computational load in robot teams

© 2021, The Author(s). Modern multi-robot systems often need to solve computationally intensive tasks but operate with limited compute resources and in the presence of failures. Cooperating to share computational tasks between robots at the edge reduces execution time. We introduce and evaluate a new computation load management technology for teams of robots: Reliable Autonomous Mobile Programs (RAMPs). RAMPs use information about the computational resources available in the team and a cost model to decide where to execute. RAMPs are implemented in ROS on a collection of Raspberry Pi-based robots. The performance of RAMPs is evaluated using route planning, a typical computationally-intensive robotics application. A systematic study of RAMPs demonstrates a high likelihood of optimal or near-optimal distribution and hence efficient resource utilisation. RAMPs successfully complete in the presence of simultaneous, or successive, robot failures and network failures, while preserving near-optimal distribution

Effects of Aging on Genioglossus Motor Units in Humans

The genioglossus is a major upper airway dilator muscle thought to be important in obstructive sleep apnea pathogenesis. Aging is a risk factor for obstructive sleep apnea although the mechanisms are unclear and the effects of aging on motor unit remodeled in the genioglossus remains unknown. To assess possible changes associated with aging we compared quantitative parameters related to motor unit potential morphology derived from EMG signals in a sample of older (n = 11; >55 years) versus younger (n = 29; <55 years) adults. All data were recorded during quiet breathing with the subjects awake. Diagnostic sleep studies (Apnea Hypopnea Index) confirmed the presence or absence of obstructive sleep apnea. Genioglossus EMG signals were analyzed offline by automated software (DQEMG), which estimated a MUP template from each extracted motor unit potential train (MUPT) for both the selective concentric needle and concentric needle macro (CNMACRO) recorded EMG signals. 2074 MUPTs from 40 subjects (mean±95% CI; older AHI 19.6±9.9 events/hr versus younger AHI 30.1±6.1 events/hr) were extracted. MUPs detected in older adults were 32% longer in duration (14.7±0.5 ms versus 11.1±0.2 ms; P = 0.05), with similar amplitudes (395.2±25.1 µV versus 394.6±13.7 µV). Amplitudes of CNMACRO MUPs detected in older adults were larger by 22% (62.7±6.5 µV versus 51.3±3.0 µV; P<0.05), with areas 24% larger (160.6±18.6 µV.ms versus 130.0±7.4 µV.ms; P<0.05) than those detected in younger adults. These results confirm that remodeled motor units are present in the genioglossus muscle of individuals above 55 years, which may have implications for OSA pathogenesis and aging related upper airway collapsibility

Immobilization of cadmium and lead by Lactobacillus rhamnosus GR-1 mitigates apical-to-basolateral heavy metal translocation in a Caco-2 model of the intestinal epithelium

© 2018, © 2018 The Author(s). Published by Taylor & Francis. Heavy metals are highly toxic elements that contaminate the global food supply and affect human and wildlife health. Purification technologies are often too expensive or not practically applicable for large-scale implementation, especially in impoverished nations where heavy metal contamination is widespread. Lactobacillus rhamnosus GR-1 (LGR-1) was shown in previous work to reduce heavy metal bioaccumulation in a Tanzanian cohort of women and children through indeterminant mechanisms. Here, it was hypothesized that LGR-1 could sequester the heavy metals lead (Pb) and cadmium (Cd), thereby reducing their absorption across intestinal epithelium. LGR-1 and other lactobacilli significantly reduced the amount of Pb and Cd in solution at all concentrations tested (0.5 mg/L–50 mg/L) and exhibited sustained binding profiles over a 48-hour period. Relative binding efficiency of LGR-1 decreased as Pb concentration increased, with an absolute minimum binding threshold apparent at concentrations of 2 mg/L and above. Electron microscopy revealed that Pb formed irregular cell-surface clusters on LGR-1, while Cd appeared to form intracellular polymeric clusters. Additionally, LGR-1 was able to significantly reduce apical-to-basolateral translocation of Pb and Cd in a Caco-2 model of the intestinal epithelium. These findings demonstrate the absorbent properties of LGR-1 can immobilize Pb and Cd, effectively reducing their translocation across the intestinal epithelium in vitro. Oral administration of heavy metal-binding Lactobacillus spp. (many of which are known human symbionts and strains of established probiotics) may offer a simple and effective means to reduce the amount of heavy metals absorbed from foods in contaminated regions of the world

Evaluating Scalable Distributed Erlang for Scalability and Reliability

Large scale servers with hundreds of hosts and tens of thousands of cores are becoming common. To exploit these platforms software must be both scalable and reliable, and distributed actor languages like Erlang are a proven technology in this area. While distributed Erlang conceptually supports the engineering of large scale reliable systems, in practice it has some scalability limits that force developers to depart from the standard language mechanisms at scale. In earlier work we have explored these scalability limitations, and addressed them by providing a Scalable Distributed (SD) Erlang library that partitions the network of Erlang Virtual Machines (VMs) into scalable groups (s_groups). This paper presents the first systematic evaluation of SD Erlang s_groups and associated tools, and how they can be used. We present a comprehensive evaluation of the scalability and reliability of SD Erlang using three typical benchmarks and a case study. We demonstrate that s_groups improve the scalability of reliable and unreliable Erlang applications on up to 256 hosts (6,144 cores). We show that SD Erlang preserves the class-leading distributed Erlang reliability model, but scales far better than the standard model. We present a novel, systematic, and tool-supported approach for refactoring distributed Erlang applications into SD Erlang. We outline the new and improved monitoring, debugging and deployment tools for large scale SD Erlang applications. We demonstrate the scaling characteristics of key tools on systems comprising up to 10 K Erlang VMs

Observational study to estimate the changes in the effectiveness of bacillus Calmette-Guérin (BCG) vaccination with time since vaccination for preventing tuberculosis in the UK.

Until recently, evidence that protection from the bacillus Calmette-Guérin (BCG) vaccination lasted beyond 10 years was limited. In the past few years, studies in Brazil and the USA (in Native Americans) have suggested that protection from BCG vaccination against tuberculosis (TB) in childhood can last for several decades. The UK's universal school-age BCG vaccination programme was stopped in 2005 and the programme of selective vaccination of high-risk (usually ethnic minority) infants was enhanced. To assess the duration of protection of infant and school-age BCG vaccination against TB in the UK. Two case-control studies of the duration of protection of BCG vaccination were conducted, the first on minority ethnic groups who were eligible for infant BCG vaccination 0-19 years earlier and the second on white subjects eligible for school-age BCG vaccination 10-29 years earlier. TB cases were selected from notifications to the UK national Enhanced Tuberculosis Surveillance system from 2003 to 2012. Population-based control subjects, frequency matched for age, were recruited. BCG vaccination status was established from BCG records, scar reading and BCG history. Information on potential confounders was collected using computer-assisted interviews. Vaccine effectiveness was estimated as a function of time since vaccination, using a case-cohort analysis based on Cox regression. In the infant BCG study, vaccination status was determined using vaccination records as recall was poor and concordance between records and scar reading was limited. A protective effect was seen up to 10 years following infant vaccination [&lt; 5 years since vaccination: vaccine effectiveness (VE) 66%, 95% confidence interval (CI) 17% to 86%; 5-10 years since vaccination: VE 75%, 95% CI 43% to 89%], but there was weak evidence of an effect 10-15 years after vaccination (VE 36%, 95% CI negative to 77%; p = 0.396). The analyses of the protective effect of infant BCG vaccination were adjusted for confounders, including birth cohort and ethnicity. For school-aged BCG vaccination, VE was 51% (95% CI 21% to 69%) 10-15 years after vaccination and 57% (95% CI 33% to 72%) 15-20 years after vaccination, beyond which time protection appeared to wane. Ascertainment of vaccination status was based on self-reported history and scar reading. The difficulty in examining vaccination sites in older women in the high-risk minority ethnic study population and the sparsity of vaccine record data in the later time periods precluded robust assessment of protection from infant BCG vaccination &gt; 10 years after vaccination. Infant BCG vaccination in a population at high risk for TB was shown to provide protection for at least 10 years, whereas in the white population school-age vaccination was shown to provide protection for at least 20 years. This evidence may inform TB vaccination programmes (e.g. the timing of administration of improved TB vaccines, if they become available) and cost-effectiveness studies. Methods to deal with missing record data in the infant study could be explored, including the use of scar reading. The National Institute for Health Research Health Technology Assessment programme. During the conduct of the study, Jonathan Sterne, Ibrahim Abubakar and Laura C Rodrigues received other funding from NIHR; Ibrahim Abubakar and Laura C Rodrigues have also received funding from the Medical Research Council. Punam Mangtani received funding from the Biotechnology and Biological Sciences Research Council