Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach

This paper presents algorithmic solutions for the complete coverage path planning problem using a team of mobile robots. Multiple robots decrease the time to complete the coverage, but maximal efficiency is only achieved if the number of regions covered multiple times is minimized. A set of multi-robot coverage algorithms is presented that minimize repeat coverage. The algorithms use the same planar cell-based decomposition as the Boustrophedon single robot coverage algorithm, but provide extensions to handle how robots cover a single cell, and how robots are allocated among cells. Specifically, for the coverage task our choice of multi-robot policy strongly depends on the type of communication that exists between the robots. When the robots operate under the line-of-sight communication restriction, keeping them as a team helps to minimize repeat coverage. When communication between the robots is available without any restrictions, the robots are initially distributed through space, and each one is allocated a virtually-bounded area to cover. A greedy auction mechanism is used for task/cell allocation among the robots. Experimental results from different simulated and real environments that illustrate our approach for different communication conditions are presented.     

Enhancing the Therapeutic Potential of Mesenchymal Stromal Cell-Based Therapies with an Anti-Fibrotic Agent for the Treatment of Chronic Kidney Disease

Chronic kidney disease (CKD) affects 1 in 10 members of the general population, placing these patients at an increasingly high risk of kidney failure. Despite the significant burden of CKD on various healthcare systems, there are no effective cures that reverse or even halt its progression. In recent years, human bone-marrow-derived mesenchymal stromal cells (BM-MSCs) have been recognised as a novel therapy for CKDs, owing to their well-established immunomodulatory and tissue-reparative properties in preclinical settings, and their promising safety profile that has been demonstrated in patients with CKDs from several clinical trials. However, renal fibrosis (scarring), a hallmark of CKD, has been shown to impair the viability and functionality of BM-MSCs post-transplantation. This has suggested that BM-MSCs might require a pre-treatment or adjunct therapy that can enhance the viability and therapeutic efficacy of these stromal cells in chronic disease settings. To address this, recent studies that have combined BM-MSCs with the anti-fibrotic drug serelaxin (RLX), have demonstrated the enhanced therapeutic potential of this combination therapy in normotensive and hypertensive preclinical models of CKD. In this review, a critical appraisal of the preclinical data available on the anti-fibrotic and renoprotective actions of BM-MSCs or RLX alone and when combined, as a treatment option for normotensive vs. hypertensive CKD, is discussed.     

Potential for identification of wild night-flying moths by remote infrared microscopy

There are hundreds of thousands of moth species with crucial ecological roles that are often obscured by their nocturnal lifestyles. The pigmentation and appearance of moths are dominated by cryptic diffuse shades of brown. In this study, 82 specimens representing 26 moth species were analysed using infrared polarimetric hyperspectral imaging in the range of 0.95–2.5 µm. Contrary to previous studies, we demonstrate that since infrared light does not resolve the surface roughness, wings appear glossy and specular at longer wavelengths. Such properties provide unique reflectance spectra between species. The reflectance of the majority of our species could be explained by comprehensive models, and a complete parametrization of the spectral, polarimetric and angular optical properties was reduced to just 11 parameters with physical units. These parameters are complementary and, compared with the within-species variation, were significantly distinct between species. Counterintuitively to the aperture-limited resolution criterion, we could deduce microscopic features along the surface from their infrared properties. These features were confirmed by electron microscopy. Finally, we show how our findings could greatly enhance opportunities for remote identification of free-flying moth species, and we hypothesize that such flat specular wing targets could be expected to be sensed over considerable distances.     

Structural Analysis of Mitochondrial Dynamics—From Cardiomyocytes to Osteoblasts: A Critical Review

Mitochondria play a crucial role in cell physiology and pathophysiology. In this context, mitochondrial dynamics and, subsequently, mitochondrial ultrastructure have increasingly become hot topics in modern research, with a focus on mitochondrial fission and fusion. Thus, the dynamics of mitochondria in several diseases have been intensively investigated, especially with a view to developing new promising treatment options. However, the majority of recent studies are performed in highly energy-dependent tissues, such as cardiac, hepatic, and neuronal tissues. In contrast, publications on mitochondrial dynamics from the orthopedic or trauma fields are quite rare, even if there are common cellular mechanisms in cardiovascular and bone tissue, especially regarding bone infection. The present report summarizes the spectrum of mitochondrial alterations in the cardiovascular system and compares it to the state of knowledge in the musculoskeletal system. The present paper summarizes recent knowledge regarding mitochondrial dynamics and gives a short, but not exhaustive, overview of its regulation via fission and fusion. Furthermore, the article highlights hypoxia and its accompanying increased mitochondrial fission as a possible link between cardiac ischemia and inflammatory diseases of the bone, such as osteomyelitis. This opens new innovative perspectives not only for the understanding of cellular pathomechanisms in osteomyelitis but also for potential new treatment options.     

Workload, control, and social support effects on serum lipids: A longitudinal study among apparently healthy employed adults.

The authors investigated the direct and interactive effects of the job demand– control–support (JDC-S) model’s components on subsequent changes in high-density lipoprotein cholesterol, low-density lipoprotein cholesterol, and triglycerides (TRI) separately for male and female employees. In contrast to all 14 past studies on these relationships, the authors used a longitudinal design. Study participants (N = 1,137, 66% men) were all apparently healthy employees who underwent a routine health check at 2 points in time (Time 1 and Time 2) about 22 months apart. In these analyses, the authors controlled for the Time 1 level of each criterion and for other confounders. Most of the direct and moderating effects found did not support the predictions of the JDC-S model; this finding is in agreement with the majority of past cross-sectional studies. The authors did not find any evidence supporting the existence of a reverse causation for either of the components of the JDC-S model. The authors suggest that serum lipids may not be a physiological mechanism mediating the effects of the JDC-S model on atherosclerotic diseases. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Not so black and white: Memory for ambiguous group members.

Exponential increases in multiracial identities, expected over the next century, create a conundrum for perceivers accustomed to classifying people as their own- or other-race. The current research examines how perceivers resolve this dilemma with regard to the own-race bias. The authors hypothesized that perceivers are not motivated to include ambiguous-race individuals in the in-group and therefore have some difficulty remembering these individuals. Both racially ambiguous and other-race faces were misremembered more often than own-race faces (Study 1), though memory for ambiguous faces was improved among perceivers motivated to include biracial individuals in the in-group (Study 2). Racial labels assigned to racially ambiguous faces determined memory for these faces, suggesting that uncertainty provides the motivational context for discounting ambiguous faces in memory (Study 3). Finally, an inclusion motivation fostered cognitive associations between racially ambiguous faces and the in-group. Moreover, the extent to which perceivers associated racially ambiguous faces with the in-group predicted memory for ambiguous faces and accounted for the impact of motivation on memory (Study 4). Thus, memory for biracial individuals seems to involve a flexible person construal process shaped by motivational factors. (PsycINFO Database Record (c) 2010 APA, all rights reserved)