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.     

A self-processing network model for relational databases

In this paper, a model which combines relational databases with self-processing networks is proposed in order to improve the performance of very large databases. The proposed model uses an approach which is radically different from all other distributed database models, where each computer processes a portion of the database. In the self-processing network model, the network structure which consists of nodes and connections, captures the data and the relationships by assigning them unique, connected control, and data nodes. The network activity is the mechanism that performs the relational algebra operations. No data transmission is needed, and since data nodes are common to all the relations, integrity and elimination of data redundancy are achieved. An extension of the model, by interconnecting the data nodes via weighted links, provides us with properties that are embedded in neural networks, such as fuzziness and learning.     

Membrane performance in combined processes including ozonation or advanced oxidation, powdered activated carbon and coagulation — Investigations in pilot scale

In Luxembourg the largest drinking water production plant treating reservoir water with conventional technology including ozonation is in operation since 1969. Its maximum capacity is 64,000 m³/d. After 40 years of operation the need for both modernizing and extension of capacity to 100,000 m³/d emerged. Nowadays, due to new developments in technology and research it is possible to assess the water treatment processes more effectively with regard to current and future requirements. Against this background, membrane processes combined with conventional and advanced processes were identified as potential option and long term pilot-scale tests were started in June 2008. Different treatment process schemes all including membranes are investigated in a one year pilot plant period. Various treatment steps such as different pre- and post-treatment steps, various membranes and membrane materials and also conventional treatment steps are compared and assessed.     

Methodical investigations for quantitative image analysis on cells of the female genital tract (author's transl)]

An earlier published [8] image analysis system for cytology is tested on gynecological material. At first the question for the staining method which is optimal for scanning-photometrical measurements is investigated. In addition the wavelength of the light which reproduces best the nuclear structure must be found. Feulgen-stained preparations scanned at 570nm allow a more secure sorting of superficial cells against intermediary cells than those in the classical Papanicolaou-stain at white light. Discoloring of Papanicolaou-preparations and Feulgen staining afterwards was accomplished without technical problems and there were not detectable any qualitative differences with directly Feulgen-stained preparations by means of image analysis. With this method it is possible to recognize structural changes in nuclei of vaginal epithelium during cell differentation.     

Resolving crises through automated bilateral negotiations

We describe the development of an automated agent that can negotiate efficiently with people in crises. The environment is characterized by two negotiators, time constraints, deadlines, full information, and the possibility of opting out. The agent can play either role, with communications via a pre-defined language. The model used in constructing the agent is based on a formal analysis of the crises scenario using game-theoretic methods and heuristics for bargaining. The agent receives messages sent by its opponent, analyzes them and responds. It also initiates discussion on one or more parameters of an agreement. Experimental results of simulations of a fishing dispute between Canada and Spain indicate that the agent played at least as well as, and in the case of Spain, significantly better than a human player.     

Complete spontaneous remission in a patient with metastatic non-small-cell lung cancer. Case report, review of the literature, and discussion of possible biological pathways involved

Spontaneous remission of cancer (SR) is defined as a complete or partial, temporary or permanent disappearance of all or at least some relevant parameters of a soundly diagnosed malignant disease without any medical treatment or with treatment that is considered inadequate to produce the resulting regression. We report the case of a 61-year-old man who presented with extensive metatastic disease five months after pneumonectomy for poorly differentiated large cell and polymorphic lung cancer. A vast metastatic tumour mass of the abdominal wall was confirmed histolologically and there was clinical and radiographic evidence of liver and lung metastases. Eight months later, the patient was operated on for a hernia, which had developed in the inguinal biopsy scar and the surgeon confirmed complete clinical SR of the abdominal wall metastases. Again five months later there was no longer any radiologic evidence of liver and lung metastases. Complete remission has persisted more than five years. Histology of the primary and of the abdominal metastases were reviewed by several independent pathologists. SR is an extremly rare event in lung cancer. This is the first documented case of clinically evident visceral metastases of a bronchiogenic adenocarcinoma developing after complete resection of the primary and then showing complete SR. The epidemiology of SR is reviewed and possible mechanisms involved in SR are discussed.     

Perpendicular Orientation of Anisotropic Au‐Tipped CdS Nanorods at the Air/Water Interface

Anisotropic CdS nanorods tipped by Au nanoparticles on one edge (Au‐CdS‐NRs) are perpendicularly oriented at the air/water interface, whereby all the Au tips are located in the subphase, using the Langmuir–Blodgett technique. Since these nano‐objects reveal light‐induced charge separation at the semiconductor/metal interface, it is of high interest to control their organization. The orientation of these assemblies is studied in situ while compressing the Langmuir–Blodgett trough using the π‐A isotherm, Brewster angle microscopy, and horizontal touch voltammetry. All these analyses clearly confirm the induced organization of the amphiphilic Au‐CdS‐NRs by compression of the Langmuir layer. The compressed layers are successfully transferred by the Langmuir–Schaefer method onto transmission electron microscopy grids while maintaining the preferential orientation as analyzed by transmission, scanning and scanning trasmission electron microscopy, and X‐ray photoelectron spectroscopy. As far as can be determined, the Langmuir–Blodgett technique has not been used so far for perpendicularly orienting anisotropic nano‐objects. Moreover, these findings clearly demonstrate that anisotropic amphiphilic nano‐objects can be treated with some similarity to the traditional amphiphilic molecular building blocks.     

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