Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing

Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the robots to update remote areas of the map without having to explicitly navigate those areas, and plan efficient paths. A node representation of paths is presented for seamless sharing of blocked path information. The transience of obstacles is modeled to track obstacles which might have been removed. A lazy information update scheme is presented in which only relevant information affecting the current task is updated for efficiency. The advantages of the proposed method for path planning are discussed against traditional method with experimental results in both simulation and real environments

The apocalyptic-eschatological drama of Jesus in the Fourth Gospel : an investigation into the Johannine Christology and eschatology with special reference to John 12.20-36

In this thesis we will explore the question of Jesus' revelation as a central motif of the Johannine Christology from the perspectives of literary criticism, Jewish apocalypticism and Graeco-Roman dramatic literature. In particular, we will attempt to solve the riddle of the visions developed in John 12.20-36, by answering the fragmentary theory of the text, the claim for the divergent christologies, the question of realised eschatology with or without future eschatology, and the claim that the Johannine community its symbolic world creates is 'sectarian'. A special attention will be paid to the Son of man as presented in the pericope under discussion as well as in the Fourth Gospel as a whole. The thesis will be summarised as follows: 1. Over against the fragment theory, the concentric arrangement of Jesus' saying formed predominantly in parallelism shows a deliberate literary design of the author. Set at the end of the earthly ministry of Jesus, John 12.20-36 is a culminating point of the revelatory process of Jesus. 2. The overall conceptual framework to understand John 12.20-36, and thus the Fourth Gospel as a whole, is the apocalyptic idea of the divine mysteries concerning the .end time. The revelation is centred on Jesus the Son of man, identified as the human-like figure of Dan 7, which culminates in his cross as his glorification/lifting-up. The vision of the revealed mysteries in Jesus on the cross embraces the eschatological Messiah, the restoration of Israel and of the Temple, salvation, the vindication of the righteous and the condemnation of the evil, and the Gentiles' pilgrimage, which is comparable to contemporary Jewish apocalyptic writings. 3. The cross of Jesus as the focus of the apocalyptic vision of the end time lies behind the apparently divergent christologies (the Son of man, the Davidic Messiah, divine Wisdom), which are integrated in the text in such a manner that it is impossible for each to be understood in isolation. The combination of these is already found in the Jewish apocalyptic-eschatological hope. The fact that the lifting-up and glorification of the Son of man is given precedence to the Davidic Kingly Messiah deprives a political and military aspect of the popular Jewish expectation. 4. At the same time, the revelatory pattern of the Johannine Jesus is not only explicable in Jewish apocalyptic terms, but it has to be understand in view of the anagnorisis, a popular Graeco-Roman dramatic convention. Within the main plot of the Fourth Gospel Jesus is depicted as the divine homecoming hero-king, as in Homer's Odyssey, whose messianic identity is closed to many and disclosed to those who receive him with faith (and hospitality). This pattern is relevant for most of the Johannine Son of man sayings as well. In this plot development John 12.20-36 is situated in a climactic place where the Jewish crowd fails to recognise Jesus who points to the decisive moment of his revelation on the cross. 5. The Johannine Eschatology is Jesus centred, and its realised aspect is strongly emphasised, because the eschatological terminology is overwhelmingly applied to him. Thus Jesus on the cross is the embodiment of the eschaton. At the same time, the post-Easter period, the time of the church, is open toward its future culmination because of the mission perspective. 6. The revelation of Jesus as the core of the divine mysteries concerning the end-time centres on the cross, which is presented as both the judgement and the salvation of the world. The Johannine understanding of the cross is expressed within the framework of the vindication/exaltation of the suffering righteous. It is implied that Jesus' death and resurrection inaugurates the new, eschatological covenant for the new people of God embracing both Jews and Gentiles. 7. John 12.20-36 envisages an apocalyptic vision of the end-time judgement and salvation, in which the new covenant people is created as a new people of God. The basis of the new 'children of the Light' is no longer the Law as in the old covenant but the faith in Jesus the Light (and to love each other as a new law). This faith is not individualistic but geared towards community building, which includes the believers from the Gentiles. The community itself is the result of the cross of Jesus. The purpose of Jesus' death for 'bearing much fruit' and gathering of 'all' (nations) to his own house is to be accomplished in the community through its mission to the world, despite the probable persecutions

Invited; Ternary amorphous oxide semiconductor material toward 3D-integrated ferroelectric devices

Interest in transistor-based ferroelectric memory (FeFET) using ferroelectric HfO2[1] as a candidate for nextgeneration memory devices has been growing, and FeFETs with a three-dimensional stacked structure (3DFeFET) have been proposed[2]. Recently, amorphous oxide semiconductors (AOS) such as In-Ga-Zn-O have been mentioned as a candidate channel material, and it is expected to suppress the characteristic degradation caused by the formation of interface layers, which is a problem with Si-based materials [3]. deposition (ALD) technology is required to apply AOS to 3D-FeFETs. Conventional AOS are mainly quaternary, and have been designed for display applications that require low-temperature deposition. Please click Download on the upper right corner to see the full abstract

FRONT-TURN MOVEMENT IN SEOI-NAGE OF ELITE JUDO ATHLETES

The purpose of our work was to investigate the control of the front-turn movement (Mae-mawari sabaki) for seoi-nage of elite judo athletes to obtain findings for effective coaching. Threedimensional data were collected on seoi-nage performed by six elite judo athletes using a three-dimensional motion analysis technique. The most distinguishing feature of the present study results is that the decrease in the trunk inclination angle closely related to the decrease in the moment of inertia of the body in the turning phase. This study found that elite judo athletes performed seoi-nage by turning their body while quickly raising their trunk so that the moment of inertia of the body about the vertical axis was minimized

COMPARISON OF ANGULAR FACTORS TO DETERMINE QUICKNESS IN SEOI-NAGE BETWEEN ELITE AND COLLEGE JUDO ATHLETES

The purpose of this study was to identify factors to determine the quickness of a Seoi-nage by comparing the kinematic parameters during the Kuzushi and Tsukuri phases between elite and college Judo athletes. Three-dimensional data were collected on seoi-nage performed by three male elite judo athletes and seven male local college athletes using a three-dimensional motion analysis technique. This study found that the angular velocity of the upper limb of elite judo athletes was much faster than that of the college athletes. The elite athletes performed Seoi-nage with a technique in which they rotated lower body first, and then upper body so that the rotation of the upper limb was minimized in the early part of the turning phase. This finding can help teaching of a quick seoi-nage

Trochanteric Claw Plate Fixation for Greater Trochanteric Fracture or Osteotomy in Total Hip Arthroplasty

This study retrospectively evaluated 41 consecutive open reductions and internal fixations following primary or revision total hip arthroplasty, which required trochanteric claw plate fixation for greater trochanteric fracture or osteotomy between January 2008 and December 2020. The mean duration of clinical follow-up was 4.2 years (range, 1-13 years). The patients included 13 men and 28 women, with a mean age of 68 years (range, 32-87 years). The indications for intervention included trochanteric osteotomy, intraoperative fracture, and non-union including postoperative fracture in 6, 9, and 26 cases, respectively. The mean Merle d’Aubigné Clinical Score improved from 9.4 points (range, 5-15 points) pre-operatively, to 14.3 points (range, 9-18 points) at the last follow-up. Bone union occurred in 35 cases (85%), while implant breakage occurred in four cases. At the last follow-up, the mean Merle d’Aubigné Clinical Scores of bone union and non-union were 15.3 and 14.1, respectively (p=0.48). The Kaplan-Meier survival rate, with the endpoint being revision surgery for pain, non-union, dislocation, or implant breakage, at 10 years was 80.0% (95% confidence interval: 62.6-97.4%). Greater trochanteric fixation using a trochanteric claw plate yielded successful results

OsYSL16 plays a role in the allocation of iron

Graminaceous plants acquire iron by secreting mugineic acid family phytosiderophores into the rhizosphere and taking up complexes of iron and phytosiderophores through YSL (yellow stripe 1-like) transporters. Rice OsYSL15 is a transporter of the iron(III)-2′-deoxymugineic acid complex. OsYSL16 has 85 % similarity to both OsYSL15 and the iron(II)-nicotianamine transporter OsYSL2. In the present study, we show that OsYSL16 functionally complemented a yeast mutant defective in iron uptake when grown on medium containing iron(III)-deoxymugineic acid, but not when grown on medium containing iron(II)-nicotianamine. OsYSL16-knockdown seedlings were smaller than wild-type seedlings when only iron(III)chloride was supplied as an iron source. The iron concentration in shoots of OsYSL16-knockdown plants was similar to that of the wild type; however, they showed more severe chlorosis than wild-type plants under iron-deficient conditions. Furthermore, OsYSL16-knockdown plants accumulated more iron in the vascular bundles of the leaves. Expression of the OsYSL16 promoter fused to the β-glucuronidase gene showed that OsYSL16 is expressed in the root epidermis and vascular bundles of whole plants. The expression was typically observed around the xylem. In the vascular bundles of unelongated nodes, it was detected in the xylem of old leaves and the phloem of new leaves. Graminaceous plants translocate iron from the roots to old leaves mainly via the xylem and to new leaves mainly via the phloem. Our results suggest that OsYSL16 plays a role in the allocation of iron(III)-deoxymugineic acid via the vascular bundles. ELECTRONIC SUPPLEMENTARY MATERIAL: The online version of this article (doi:10.1007/s11103-012-9930-1) contains supplementary material, which is available to authorized users