Multirobot motion coordination in space and time

This paper describes a solution to the multirobot motion planning problem based on a decoupled analysis in the space domain and in the time domain. It investigates the practical use of the notion of motion plan quality and of the motion plan robustness measures for computing safe motions. The use of anytime algorithms allows one to evaluate the opportunity of looking for alternative solution paths by generating small variations of robot motions affecting both its geometrical path and its scheduled velocity. By using the concept of plan robustness, several alternative paths are generated and evaluated through various performance indices and impact factors, using heuristic rules. These indices allow one to know how much a variation affects a given plan. Finally, some recent experiments are outlined.     

Multidimensional Cube Packing

We consider the d-dimensional cube packing problem (d-CPP): given a list L of d-dimensional cubes and (an unlimited quantity of) d-dimensional unit-capacity cubes, called bins, find a packing of L into the minimum number of bins. We present two approximation algorithms for d-CPP, for fixed d. The first algorithm has an asymptotic performance bound that can be made arbitrarily close to 2 – (1/2)^d . The second algorithm is an improvement of the first and has an asymptotic performance bound that can be made arbitrarily close to 2 – (2/3)^d . To our knowledge, these results improve the bounds known so far for d = 2 and d = 3, and are the first results with bounds that are not exponential in the dimension.     

Multiscale approximation with hierarchical radial basis functions networks

An approximating neural model, called hierarchical radial basis function (HRBF) network, is presented here. This is a self-organizing (by growing) multiscale version of a radial basis function (RBF) network. It is constituted of hierarchical layers, each containing a Gaussian grid at a decreasing scale. The grids are not completely filled, but units are inserted only where the local error is over threshold. This guarantees a uniform residual error and the allocation of more units with smaller scales where the data contain higher frequencies. Only local operations, which do not require any iteration on the data, are required; this allows to construct the network in quasi-real time. Through harmonic analysis, it is demonstrated that, although a HRBF cannot be reduced to a traditional wavelet-based multiresolution analysis (MRA), it does employ Riesz bases and enjoys asymptotic approximation properties for a very large class of functions. HRBF networks have been extensively applied to the reconstruction of three-dimensional (3-13) models from noisy range data. The results illustrate their power in denoising the original data, obtaining an effective multiscale reconstruction of better quality than that obtained by MRA.     

Multipurpose modular experimental station for the DiProI beamline of Fermi@Elettra free electron laser

We present a compact modular apparatus with a flexible design that will be operated at the DiProI beamline of the Fermi@Elettra free electron laser (FEL) for performing static and time-resolved coherent diffraction imaging experiments, taking advantage of the full coherence and variable polarization of the short seeded FEL pulses. The apparatus has been assembled and the potential of the experimental setup is demonstrated by commissioning tests with coherent synchrotron radiation. This multipurpose experimental station will be open to general users after installation at the Fermi@Elettra free electron laser in 2011.     

Pleurotusostreatus and Agaricus subrufescens: investigation of chemical composition and antioxidant properties of these mushrooms cultivated with different handmade and commercial supplements

In this study, the chemical composition, total phenolic content and antioxidant activity (DPPH, ORAC and FRAP assays) of A. subrufescens and P. ostreatus, cultivated with handmade and commercials supplements, were compared. Additionally, the compounds ergosterol, saccharopine, and hexitol were identified in A. subrufescens by HPLC-MS/MS. The antioxidant compound p-coumaric acid and dihexoses was found in both mushroom species. A. subrufescens presented higher total phenolic content (73.8 ± 0.6 mg GAE 100 g⁻¹) and antioxidant activity than P. ostreatus (16.6 ± 0.5 mg GAE 100 g⁻¹). The handmade supplement based on the waste of noble grains presented statistically similar phenolic content to the mushrooms cultivated with commercial ones Spawn Mate II SE (86.1 ± 1.4 and 92.9 ± 0.3 mg GAE 100 g⁻¹, respectively). Therefore, the results support the use of handmade supplements based on agro-wastes as a viable alternative to the use of high-cost commercial ones.     

Intrinsic Fluorescence of the Active and the Inactive Functional Forms of Human Thymidylate Synthase

The observables associated with protein intrinsic fluorescence – spectra, time decays, anisotropies – offer opportunities to monitor in real time and non-invasively a protein‘s functional form and its interchange with other forms with different functions. We employed these observables to sketch the fluorometric profiles of two functional forms of human thymidylate synthase (hTS), a homodimeric enzyme crucial for cell proliferation and thus targeted by anticancer drugs. The protein takes an active and an inactive form. Stabilization of the latter by peptides that, unlike classical hTS inhibitors, bind it at the monomer/monomer interface offers an alternative inhibition mechanism that promises to avoid the onset of drug resistance in anticancer therapy. The fluorescence features depicted herein can be used as tools to identify and quantify each of the two protein forms in solution, thus making it possible to investigate the kinetic and thermodynamic aspects of the active/inactive conformational interchange. Two examples of fluorometrically monitored interconversion kinetics are provided.     

Building a bridge between performance management,radical innovation,and innovation networks: A systematic literature review

Research on performance management (PM) of networks and radical innovation has largely developed along two isolated paths. On the one hand, a growing body of knowledge addresses the use of performance management systems in the context of networks (notably for production and incremental innovation). On the other hand, radical innovation scholars have shown how innovation initiatives that are more uncertain demand the use of new approaches (e.g., new project management routines or different evaluative tools for portfolios). Some scholars even suggest that traditional PM may suppress radical innovation. Our study takes a different approach. It aims to bridge radical innovation and network performance management through a systematic review of the literature. Here, we adopt a hybrid approach that combines bibliometrics with content analysis. Whereas the literature often separates the issues of network performance management and radical innovation, our contribution expands the theory of network management and radical innovation by developing a conceptual framework based on these concepts, thus combining them. We also offer suggestions for further research on this approach. Our framework suggests that overall, the performance management of radical innovation networks presents different features (e.g., recursive rather than linear) and constructs (e.g., openness and unintended performance) from those of innovation network management.     

Highly translucent nanostructured glass-ceramic

Transparent and translucent glass-ceramics (GCs) are found in an increasing number of domestic and high-technology applications. In this paper, we evaluated and optimized the effects of two-stage heat treatments on the resulting crystalline phases and microstructure of a glass of the SiO₂–Li₂O–P₂O₅–TiO₂–CaO–ZnO–Al₂O₃ system. The objective was to develop a transparent nanostructured glass-ceramic (GC). After numerous heat treatment trials, we found that a long nucleation period of 72 h at 455 °C followed by a crystal growth treatment at 660 °C for 2 h resulted in a highly translucent GC having homogenously distributed nanocrystals. The relatively high amount of P₂O₅ (2.5 mol%) induced the formation of lithium disilicate as the main crystal phase. We thus developed a GC having crystals under 50 nm, with a high crystallized fraction (52%vol. Li₂Si₂O₅ and 26% vol Li₂SiO₃), transmittance of approximately 80% in the visible spectrum for 1.2 mm thick specimens, nano hardness of 8.7 ± 0.1 GPa (load of 400 mN), a high elastic modulus of 138 ± 3 GPa as measured by nanoindentation, and good flexural strength (350 ± 40 MPa) as measured by ball-on-3 balls tests. Due to its high content of Li⁺, this GC has the potential to be chemically strengthened and can be further developed to be used in a number of applications, such as on displays of electronic devices.