Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons

We consider the following motion-planning problem: we are given $m$ unit discs in a simple polygon with $n$ vertices, each at their own start position, and we want to move the discs to a given set of $m$ target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in $O(n\log n+mn+m^2)$ time, assuming that the start and target positions are at least some minimal distance from each other. This is in sharp contrast to the standard (labeled) and more general multi-robot motion-planning problem for discs moving in a simple polygon, which is known to be strongly NP-hard

Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning

We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding algorithm, discrete-RRT (dRRT), is an adaptation of the celebrated RRT algorithm for the discrete case of a graph, and it enables a rapid exploration of the high-dimensional configuration space by carefully walking through an implicit representation of a tensor product of roadmaps for the individual robots. We demonstrate our approach experimentally on scenarios of up to 60 degrees of freedom where our algorithm is faster by a factor of at least ten when compared to existing algorithms that we are aware of.Comment: Kiril Solovey and Oren Salzman contributed equally to this pape

Non-Abelian discrete gauge symmetries in 4d string models

We study the realization of non-Abelian discrete gauge symmetries in 4d field theory and string theory compactifications. The underlying structure generalizes the Abelian case, and follows from the interplay between gaugings of non-Abelian isometries of the scalar manifold and field identifications making axion-like fields periodic. We present several classes of string constructions realizing non-Abelian discrete gauge symmetries. In particular, compactifications with torsion homology classes, where non-Abelianity arises microscopically from the Hanany-Witten effect, or compactifications with non-Abelian discrete isometry groups, like twisted tori. We finally focus on the more interesting case of magnetized branes in toroidal compactifications and quotients thereof (and their heterotic and intersecting duals), in which the non-Abelian discrete gauge symmetries imply powerful selection rules for Yukawa couplings of charged matter fields. In particular, in MSSM-like models they correspond to discrete flavour symmetries constraining the quark and lepton mass matrices, as we show in specific examples.Comment: 58 pages; minor typos corrected and references adde

Multifield Dynamics in Higgs-otic Inflation

In Higgs-otic inflation a complex neutral scalar combination of the $h^0$ and $H^0$ MSSM Higgs fields plays the role of inflaton in a chaotic fashion. The potential is protected from large trans-Planckian corrections at large inflaton if the system is embedded in string theory so that the Higgs fields parametrize a D-brane position. The inflaton potential is then given by a DBI+CS D-brane action yielding an approximate linear behaviour at large field. The inflaton scalar potential is a 2-field model with specific non-canonical kinetic terms. Previous computations of the cosmological parameters (i.e. scalar and tensor perturbations) did not take into account the full 2-field character of the model, ignoring in particular the presence of isocurvature perturbations and their coupling to the adiabatic modes. It is well known that for generic 2-field potentials such effects may significantly alter the observational signatures of a given model. We perform a full analysis of adiabatic and isocurvature perturbations in the Higgs-otic 2-field model. We show that the predictivity of the model is increased compared to the adiabatic approximation. Isocurvature perturbations moderately feed back into adiabatic fluctuations. However, the isocurvature component is exponentially damped by the end of inflation. The tensor to scalar ratio varies in a region $r=0.08-0.12$, consistent with combined Planck/BICEP results.Comment: 35 pages, 11 figure

Corrigendum: Solar cycles or random processes? Evaluating solar variability in Holocene climate records

This is the final version of the article. Available from Springer Nature via the DOI in this record.The article to which this is the corrigendum is in ORE at http://hdl.handle.net/10871/21766A coding error in the Monte Carlo procedure for the determination of critical values in running correlation analysis (presented in Supplementary Data S8) has been brought to the attention of the authors.[...

Maternal prenatal depression is associated with decreased placental expression of the imprinted gene PEG3.

BACKGROUND: Maternal prenatal stress during pregnancy is associated with fetal growth restriction and adverse neurodevelopmental outcomes, which may be mediated by impaired placental function. Imprinted genes control fetal growth, placental development, adult behaviour (including maternal behaviour) and placental lactogen production. This study examined whether maternal prenatal depression was associated with aberrant placental expression of the imprinted genes paternally expressed gene 3 (PEG3), paternally expressed gene 10 (PEG10), pleckstrin homology-like domain family a member 2 (PHLDA2) and cyclin-dependent kinase inhibitor 1C (CDKN1C), and resulting impaired placental human placental lactogen (hPL) expression. METHOD: A diagnosis of depression during pregnancy was recorded from Manchester cohort participants' medical notes (n = 75). Queen Charlotte's (n = 40) and My Baby and Me study (MBAM) (n = 81) cohort participants completed the Edinburgh Postnatal Depression Scale self-rating psychometric questionnaire. Villous trophoblast tissue samples were analysed for gene expression. RESULTS: In a pilot study, diagnosed depression during pregnancy was associated with a significant reduction in placental PEG3 expression (41%, p = 0.02). In two further independent cohorts, the Queen Charlotte's and MBAM cohorts, placental PEG3 expression was also inversely associated with maternal depression scores, an association that was significant in male but not female placentas. Finally, hPL expression was significantly decreased in women with clinically diagnosed depression (44%, p < 0.05) and in those with high depression scores (31% and 21%, respectively). CONCLUSIONS: This study provides the first evidence that maternal prenatal depression is associated with changes in the placental expression of PEG3, co-incident with decreased expression of hPL. This aberrant placental gene expression could provide a possible mechanistic explanation for the co-occurrence of maternal depression, fetal growth restriction, impaired maternal behaviour and poorer offspring outcomes.The Manchester cohort was supported by Manchester National Institute for Health Research (NIHR) Biomedical Research. The Queen Charlotte’s cohort was supported by the Medical Research Council (MRC) (Eurostress), National Institutes of Health (R01MH073842) and the Genesis Research Trust. The MBAM cohort was supported by the Genesis Research Trust. A.B.J. was supported by a Biotechnology and Biological Sciences Research Council (BBSRC) Doctoral Training Grants (DTG) studentship and subsequently MRC project grant MR/M013960/1. S.J.T. was supported by BBSRC project grant BB/J015156/1. L.E.C. was supported by an Imperial College London Ph.D. studentship and both L.E.C. and P.G.R were supported by the NIHR Imperial Biomedical Research Centre

Comparing two approaches for parsimonious vegetation modelling in semiarid regions using satellite data

[EN] Large portions of Earth's terrestrial surface are arid or semiarid. As in these regions, the hydrological cycle and the vegetation dynamics are tightly interconnected, a coupled modelling of these two systems is needed to fully reproduce the ecosystem behaviour. In this paper, the performance of two parsimonious dynamic vegetation models, suitable for the inclusion in operational ecohydrological models and based on well-established but different approaches, is compared in a semiarid Aleppo Pine region. The first model [water use efficiency (WUE) model] links growth to transpiration through WUE; the second model [light use efficiency (LUE) model] simulates biomass increase in relation to absorbed photosynthetically active radiation and LUE. Furthermore, an analysis of the information contained in MODIS products is presented to indicate the best vegetation indices to be used as observational verification for the models. Enhanced Vegetation Index is reported in literature to be highly correlated with leaf area index, so it is compared with modelled LAI(mod) (rWUE model = 0.45; rLUE model = 0.57). In contrast, Normalized Difference Vegetation Index appears highly linked to soil moisture, through the control exerted by this variable on chlorophyll production, and is therefore used to analyze LAI*(mod), models' output corrected by plant water stress (rWUE model = 0.62; rLUE model = 0.59). Moderate-resolution imaging spectroradiometer Leaf Area Index and evapotranspiration are found to be unrealistic in the studied area. The performance of both models in this semiarid region is found to be reasonable. However, the LUE model presents the advantages of a better performance, the possibility to be used in a wider range of climates and to have been extensively tested in literature. (C) Copyright 2014 John Wiley & Sons, Ltd.The research leading to these results has received funding from the Spanish Ministry of Economy and Competitiveness through the research projects FLOOD-MED (ref. CGL2008-06474-C02-02), SCARCE-CONSOLIDER (ref. CSD2009-00065) and ECO-TETIS (ref. CGL2011-28776-C02-01), and from the European Community's Seventh Framework Programme (FP7 2007-2013) under grant agreement no. 238366. The MODIS data were obtained through the online Data Pool at the NASA Land Processes Distributed Active Archive Centre (LP DAAC), USGS/Earth Resources Observation and Science (EROS) Centre, Sioux Falls, South Dakota (https://lpdaac.usgs.gov/get_data). The meteorological data were provided by the Spanish National Weather Agency (AEMET). The authors thank Antonio Del Campo Garcia and Maria Gonzalez Sanchis at the Universitat Politecnica de Valencia for their support and valuable comments.Pasquato, M.; Medici, C.; Friend, A.; Francés, F. (2015). Comparing two approaches for parsimonious vegetation modelling in semiarid regions using satellite data. Ecohydrology. 8(6):1024-1036. https://doi.org/10.1002/eco.1559S102410368

Regulating, Measuring, and Modeling the Viscoelasticity of Bacterial Biofilms

Biofilms occur in a broad range of environments under heterogeneous physicochemical conditions, such as in bioremediation plants, on surfaces of biomedical implants, and in the lungs of cystic fibrosis patients. In these scenarios, biofilms are subjected to shear forces, but the mechanical integrity of these aggregates often prevents their disruption or dispersal. Biofilms' physical robustness is the result of the multiple biopolymers secreted by constituent microbial cells which are also responsible for numerous biological functions. A better understanding of the role of these biopolymers and their response to dynamic forces is therefore crucial for understanding the interplay between biofilm structure and function. In this paper, we review experimental techniques in rheology, which help quantify the viscoelasticity of biofilms, and modeling approaches from soft matter physics that can assist our understanding of the rheological properties. We describe how these methods could be combined with synthetic biology approaches to control and investigate the effects of secreted polymers on the physical properties of biofilms. We argue that without an integrated approach of the three disciplines, the links between genetics, composition, and interaction of matrix biopolymers and the viscoelastic properties of biofilms will be much harder to uncover

Isatuximab for relapsed/refractory multiple myeloma: review of key subgroup analyses from the Phase III ICARIA-MM study

In the Phase III ICARIA-MM study (NCT02990338), the addition of the anti-CD38 monoclonal antibody isatuximab to pomalidomide and dexamethasone led to increased progression-free survival and improved response rates in patients with relapsed/refractory multiple myeloma. There is an unmet treatment need, particularly among patients with poor prognoses, including those with high-risk cytogenetics, those who have renal impairment, those who are elderly and those who are refractory to prior lines of treatment. In this review, the subgroup analyses from the ICARIA-MM study, representing subpopulations with poor prognostic factors, are discussed. Overall, the addition of isatuximab to pomalidomide and dexamethasone improved progression-free survival and disease response rates across different subgroups, regardless of prognostic factor