A study of mechanisms for improving robotic group performance

Many collaborative multi-robot application domains have limited areas of operation that cause spatial conflicts between robotic teammates. These spatial conflicts can cause the team's productivity to drop with the addition of robots. This phenomenon is impacted by the coordination methods used by the team-members, as different coordination methods yield radically different productivity results. However, selecting the best coordination method to be used by teammates is a formidable task. This paper presents techniques for creating adaptive coordination methods to address this challenge. We first present a combined coordination cost measure, CCC, to quantify the cost of group interactions. Our measure is useful for facilitating comparison between coordination methods, even when multiple cost factors are considered. We consistently find that as CCC values grow, group productivity falls. Using the CCC, we create adaptive coordination techniques that are able to dynamically adjust the efforts spent on coordination to match the number of perceived coordination conflicts in a group. We present two adaptation heuristics that are completely distributed and require no communication between robots. Using these heuristics, robots independently estimate their combined coordination cost (CCC), adjust their coordination methods to minimize it, and increase group productivity. We use simulated robots to perform thousands of experiment trials to demonstrate the efficacy of our approach. We show that using adaptive coordination methods create a statistically significant improvement in productivity over static methods, regardless of the group size.     

Multi-window spectrum estimation — A linear algebraic approach

The purpose of this paper is to elucidate the multi-window method for spectral estimation and sinusoid detection. The multi-window method, devised by D. J. Thomson, has many features that distinguish it from other spectrum estimation techniques. It has an elegant derivation, starting from first principles and using optimality arguments. It lends itself to performance analysis and provides a built-in measure of its reliability. In contrast to Thomson's integral equation derivation, we use linear algebraic methods both to treat the problem and to develop the solution. In addition to the tutorial, we present an overview of published generalizations and analyses of the method.     

A multiwindow method for spectrum estimation and sinusoid detectionin an array environment

In many applications (radar, communication, plasma physics) the signal of interest is sinusoidal and is hidden in nonwhite noise. The multiwindow method of spectrum estimation gives a constant false alarm test for the presence of a sinusoid in a time series if the noise can be assumed Gaussian. The authors generalize the method to an array and study the resulting test. Expressions for the probabilities of detection and of false alarm are obtained analytically, and receiver operation characteristic curves are computed for a particular scenario under different conditions     

Dye coupling between rat striatal neurons recorded in vivo: compartmental organization and modulation by dopamine

1. The presence of dye coupling between striatal neurons was investigated using in vivo intracellular recording and dye injection in adult rats. In 17% of the cases in which a single striatal neuron was injected with Lucifer yellow, more than one labeled neuron was recovered. In control rats, this dye coupling was observed only between single pairs of medium spiny neurons and only when the neuron injected exhibited the Type II response profile as defined by paired-pulse stimulation of corticostriatal afferents. 2. After intravenous administration of the D1/D2 agonist apomorphine at a behaviorally effective dose (i.e., 0.1-0.3 mg/kg), an increase in the incidence (from 17% to 82% of injected cells) and extent (from 2 cells to 3-7 cells labeled per injection) of dye coupling was observed. This effect was mediated by D2 receptor stimulation because administration of the D2 agonist quinpirole caused similar alterations in the incidence and extent of dye coupling (66% coupled). In contrast, administration of the D1 agonist SKF 38393 or the D1 antagonist SCH 23390 did not result in any significant alteration in dye coupling. 3. In control rats, the entire somatodendritic regions of dye-coupled neurons were found to be localized within single matrix compartments of the striatum. However, after intravenous administration of apomorphine or quinpirole, clusters of dye-coupled neurons were found to extend across the patch/matrix boundary. Moreover, dye coupling was observed after injecting cells exhibiting either the Type I or the Type II response profile. 4. In response to D2 receptor stimulation, both the extent and the pattern of coupling between striatal neurons is altered, resulting in direct coupling between neurons that are otherwise functionally and anatomically segregated in the control animal.     

Characterization of PAHs in the atmosphere of carbon black manufacturing workplaces

The objective of this study was set out to characterize the polycyclic aromatic hydrocarbon (PAH) content in the atmosphere of an oil furnace carbon black manufacturing plant located in southern Taiwan. A standard semi-volatile sampling train, the PS-1 sampler, was used to collect samples from eight areas, including the feedstock oil unloading, furnace, filtering/micro-pulverization, pelletizing, packaging, office/outside, office/inside, and boundary area, respectively. For each area, side-by-side static samples were collected simultaneously and a total of 16 samples were obtained. For each collected sample, the adsorbent-retained PAH content and the filter-retained PAH content were used directly to determine the concentrations of gaseous-phase PAHs and particle-bound PAHs, respectively. The gas chromatograph/mass spectrometer (GC/MS) technique was used for PAH analyses, and a total of 21 PAH species were determined. Results show the gaseous-phase PAHs accounted for only 69.2% of the total PAH content for samples collected from the packaging area, which was significantly lower than those samples collected from the rest of seven areas (ranging from 96.3 to 99.7%). The result is not so surprising since the packaging area had the highest dust concentration due to the releasing of carbon black dusts during the packaging process. In this study, we further examine the contribution of gaseous-phase PAHs to the total benzo[a]pyrene equivalent (BaP(eq)) content from the health-risk assessment view of point. It can be found the contribution of gaseous-phase PAHs to the total BaP(eq) content (63.1%) was quite comparable to the corresponding contribution to the total PAH content for samples collected from the packaging area. However, a different trend can be found for samples collected from the other seven areas, where the contributions of gaseous-phase PAHs to the total BaP(eq) content (ranging from 67.7 to 93.4%) were lower than the corresponding contributions to the total PAH content. The above results can be explained by PAH homologues that contained in both gaseous-phase and particle-bound PAHs. It was found the gaseous-phase PAHs contained higher fractions of less carcinogenic low molecular weight PAH homologues, whereas particle-bound PAHs contained higher fractions of more carcinogenic high molecular weight PAH homologues. Considering the contributions of gaseous-phase PAHs to both total PAH content and total BaP(eq) content were well above 50% for the eight studied areas, it is concluded that both particle-bound and gaseous-phase PAHs should be included for assessing the exposures of carbon black workers.     

Start-up study of biohydrogen production from palm oil mill effluent in a lab-scale up-flow anaerobic sludge blanket fixed-film reactor

A start-up study of lab-scale up-flow anaerobic sludge blanket fixed-film reactor (UASFF) was conducted to produce biohydrogen from palm oil mill effluent (POME). The reactor was fed with POME at different hydraulic retention time (HRT) and organic loading rate (OLR) to obtain the optimum fermentation time for maximum hydrogen yield (HY). The results showed the HY, volumetric hydrogen production rate (VHPR), and COD removal of 0.5–1.1 L H₂/g COD_consumed, 1.98–4.1 L H₂ L^?1 day^?1, and 33.4–38.5%, respectively. The characteristic study on POME particles was analyzed by particle size distribution (PSD), Scanning electron microscopy (SEM), and Energy-dispersive X-ray spectroscopy (EDX). The microbial Shannon and Simpson diversity indices and Principal Component Analysis assessed the alpha and beta diversity, respectively. The results indicated the change of bacterial community diversity over the operation, in which Clostridium sensu stricto 1 and Lactobacillus species were contributed to hydrogen fermentation.     

Identification of Proteins of Altered Abundance in Oil Palm Infected with Ganoderma boninense

Basal stem rot is a common disease that affects oil palm, causing loss of yield and finally killing the trees. The disease, caused by fungus Ganoderma boninense, devastates thousands of hectares of oil palm plantings in Southeast Asia every year. In the present study, root proteins of healthy oil palm seedlings, and those infected with G. boninense, were analyzed by 2-dimensional gel electrophoresis (2-DE). When the 2-DE profiles were analyzed for proteins, which exhibit consistent significant change of abundance upon infection with G. boninense, 21 passed our screening criteria. Subsequent analyses by mass spectrometry and database search identified caffeoyl-CoA O-methyltransferase, caffeic acid O-methyltransferase, enolase, fructokinase, cysteine synthase, malate dehydrogenase, and ATP synthase as among proteins of which abundances were markedly altered.