Spatially constrained coordinated navigation for a multi-robot system

In this paper we present a method for navigating a multi-robot system through an environment while additionally maintaining a predefined set of constraints. Examples for constraints are the requirement to maintain a direct line-of-sight between robots or to ensure that the multi-robot system maintains communication. Our approach is based on graph structures that model movements and constraints separately, in order to cover different kind of robots and a large class of possible constraints. Additionally, the separation of movement and constraint graph allows us to use known graph algorithms like Steiner tree heuristics or the multi-point relay algorithm to solve the problem of finding a target configuration for the robots. To connect the movements of the robots with the given constraints, we introduce separated connection graphs which allow assembling valid navigation plans fast. This paper presents some theoretical insight into the problem of coordinated navigation for multi-robot systems with spatial constraints as well as a practical solution. Experiments in simulation and with real robots show the feasibility of the approach.     

The Influence of Phototrophic Biomass on Fe and S Redox Cycling in an Acid Mine Drainage-Impacted System

We examined the effects of organic carbon from oxygenic photosynthetic algal biomass on the redox cycling of Fe and S in an acid mine drainage (AMD)-impacted system. Fe(III)-rich sediments from the field site with abundant algae contained fewer Fe(II) oxidizing bacteria and lower rates of Fe(II) oxidation compared to sediments that did not contain abundant algae. The addition of algal biomass to sediments that did not previously contain abundant algae inhibited microbiological Fe(II) oxidation and enhanced microbiological Fe(III) and sulfate reduction. As Fe(III) reduction proceeded, sulfate was released into solution due to the reductive solubilization of Fe(III) (hydr)oxy-sulfate phases. Our results indicate that in systems where oxidative precipitation of Fe is exploited as an AMD treatment strategy, the abundant organic carbon provided by photosynthetic organisms may inhibit or reverse Fe(II) oxidation.     

High-density automotive hydrogen storage with cryogenic capable pressure vessels

LLNL is developing cryogenic capable pressure vessels with thermal endurance 5–10 times greater than conventional liquid hydrogen (LH₂) tanks that can eliminate evaporative losses in routine usage of (L)H₂ automobiles. In a joint effort BMW is working on a proof of concept for a first automotive cryo-compressed hydrogen storage system that can fulfill automotive requirements on system performance, life cycle, safety and cost. Cryogenic pressure vessels can be fueled with ambient temperature compressed gaseous hydrogen (CGH₂), LH₂ or cryogenic hydrogen at elevated supercritical pressure (cryo-compressed hydrogen, CcH₂). When filled with LH₂ or CcH₂, these vessels contain 2–3 times more fuel than conventional ambient temperature compressed H₂ vessels. LLNL has demonstrated fueling with LH₂ onboard two vehicles. The generation 2 vessel, installed onboard an H₂-powered Toyota Prius and fueled with LH₂ demonstrated the longest unrefueled driving distance and the longest cryogenic H₂ hold time without evaporative losses. A third generation vessel will be installed, reducing weight and volume by minimizing insulation thickness while still providing acceptable thermal endurance. Based on its long experience with cryogenic hydrogen storage, BMW has developed its cryo-compressed hydrogen storage concept, which is now undergoing a thorough system and component validation to prove compliance with automotive requirements before it can be demonstrated in a BMW test vehicle.     

Video mediated social interaction between groups: System requirements and technology challenges

This paper discusses results from research related to the use of television as a device that supports social interaction between close-knit groups in settings that include more than two locations, each location being potentially equipped with more than one camera. The paper introduces the notion of a framing experience, as a specific scenario or situation within which social communication takes place. It reports on the evaluation of some of the key attributes of social communication through semi-structured interviews, with 16 families across four European countries. The inferences drawn from this study are reduced to four system capabilities including the ability to support: excitement, engagement and entertainment; high quality, reliable audiovisual communications; flexibility and adaptability sufficient to support the unpredictable and reactive nature of human interaction and discourse. These system requirements are, in turn, reduced to a number of technology challenges which if solved will help enable effective social communications between groups, mediated by the television. These technology challenges include: high quality reliable audio visual communication; interaction orchestration, multimedia interpretation and multimedia composition. Finally the paper reflects on the impact the use of framing experiences, such as those described here, could have on strategy and policy for service providers and regulators.     

The synthesis and crystal structure of unsubstituted 4,4-difluoro-4-bora-3a,4a-diaza-s-indacene (BODIPY)

The fully unsubstituted 4,4-difluoro-4-bora-3a,4a-diaza-s-indacene (BODIPY) was synthesized for the first time by oxidation of dipyrromethane followed by treatment with boron trifluoride diethyl etherate in the presence of a base. The compound was fully characterized and its X-ray crystal structure is reported.     

Anesthesia for patients with carcinoid syndrome

Carcinoid syndrome, although rare, can create serious problems to the anesthetist, both by the nature and variability of clinical manifestations and by the complications that can occur peroperatively. Recent research has led to a better understanding of the pathophysiology of the disease process. However, modern medicine is far from unraveling the precise nature and physiological effects of all the peptide mediators produced by these tumors. The severity of symptoms does not predict the severity of perioperative complications, so that patients with minor preoperative symptoms may have significant intraoperative complications. While urinary 5-HIAA levels provide a good indicator of disease progression, they cannot predict the degree or type of physiological response to intraoperative tumor manipulation. Indeed, urinary 5-HIAA may be normal both in the presence of a clinical diagnosis of carcinoid syndrome and in the face of a peroperative carcinoid crisis. The keys to successful anesthetic management of patients with carcinoid syndrome are good communication between endocrinologist, anesthetist, and surgeon and preoperative optimization of the patient. This includes appropriate investigation and treatment of the effects of carcinoid peptides and the prevention of their release from tumors. If possible, advice should be sought from centers with experience at managing this group of patients. Octreotide has largely replaced the use of other drugs both for symptomatic control and acute treatment of the symptoms associated with carcinoid syndrome. However, other drugs, such as aprotinin, still have a significant place in the symptomatic control and treatment of peroperative complications, as serotonin is only one of a large variety of peptides responsible for the clinical effects of this disease. Anesthetic technique should be aimed at minimizing carcinoid mediator release, in response to stress it induction of anesthesia and tracheal intubation and during tumor manipulation. It is equally important to prepare for carcinoid crisis by, for example, ordering drugs, which are otherwise uncommonly used in the theater setting, ahead of time. Cardiovascular instability, particularly hypotension, is common, so that full monitoring and vigilance is vital to predict its onset. The current surgical view of management is that, while curative resection of carcinoid tumors less than 2 cm in diameter with no evidence of invasion or metastatic spread is appropriate, patients with disseminated disease should be medically managed unless symptom control is poor. The exceptions to this are those patients with early and correctable carcinoid cardiac disease and those who require palliative procedures such as defunctioning obstructed bowel. Survival rates in patients following excision of gastric and appendical carcinoid tumors approach those of the general population as a whole and the chance of metastasis is extremely low. Only two series have been published in the anesthetic literature on anesthesia for patients with carcinoid syndrome, although there are many single-case reports. Despite the rarity of this syndrome, further formal studies into the anesthetic management of this condition should be encouraged.     

Contribution of job control and other risk factors to social variations in coronary heart disease incidence

BACKGROUND: The first Whitehall Study showed an inverse social gradient in mortality from coronary heart disease (CHD) among British civil servants--namely, that there were higher rates in men of lower employment grade. About a quarter of this gradient could be attributed to coronary risk factors. We analysed 5-year CHD incidence rates from the Whitehall II study to assess the contribution to the social gradient of psychosocial work environment, social support, coronary risk factors, and physical height. METHODS: Data were collected in the first three phases of examination of men and women in the Whitehall II study. 7372 people were contacted on all three occasions. Mean length of follow-up was 5.3 years. Characteristics from the baseline, phase 1, questionnaire, and examination were related to newly reported CHD in people without CHD at baseline. Three self-reported CHD outcomes were examined: angina and chest pain from the Rose questionnaire, and doctor-diagnosed ischaemia. The contribution of different factors to the socioeconomic differences in incident CHD was assessed by adjustment of odds ratios. FINDINGS: Compared with men in the highest grade (administrators), men in the lowest grade (clerical and office-support staff) had an age-adjusted odds ratio of developing any new CHD of 1.50. The largest difference was for doctor-diagnosed ischaemia (odds ratio for the lowest compared with the highest grade 2.27). For women, the odds ratio in the lowest grade was 1.47 for any CHD. Of factors examined, the largest contribution to the socioeconomic gradient in CHD frequency was from low control at work. Height and standard coronary risk factors made smaller contributions. Adjustment for all these factors reduced the odds ratios for newly reported CHD in the lowest grade from 1.5 to 0.95 in men, and from 1.47 to 1.07 in women. INTERPRETATION: Much of the inverse social gradient in CHD incidence can be attributed to differences in psychosocial work environment. Additional contributions were made by coronary risk factors--mainly smoking--and from factors that act early in life, as represented by physical height.     

Screening male intracytoplasmic sperm injection candidates for mutations of the follicle stimulating hormone receptor gene

Follicle stimulating hormone (FSH) is considered to be essential for spermatogenesis. Therefore, genetic abnormalities of FSH signalling on testicular Sertoli cells would be expected to affect sperm production negatively in males. Inactivating FSH receptor mutations have been reported earlier in both males and females. All affected males had elevated FSH serum concentrations and abnormal sperm parameters. We postulated that inactivating FSH receptor mutations might be a cause of oligozoospermia or azoospermia and reviewed the clinical data of 151 male intracytoplasmic sperm injection (ICSI) candidates with special attention to FSH serum concentrations. The exclusion criteria for mutation screening of the FSH receptor gene were: a history of operative sterilization or testicular malignancy, congenital abnormality other than cryptorchidism, and a chromosomal aberration or a Y-chromosome microdeletion. The inclusion criteria were: male (ICSI candidate) with azoospermia or oligoasthenoteratozoospermia (OAT) and elevated FSH serum concentrations. In total, 23 males with OAT and five males with azoospermia were tested for mutations of the coding sequences and the intron-exon boundaries of the FSH receptor gene by polymerase chain reaction (PCR) followed by single strand conformation polymorphism analysis (SSCP). Neutral polymorphisms were readily detected using this technique in both probands and controls. None of the 28 selected patients showed a pathogenic FSH receptor mutation. Mutations in the FSH receptor gene are not a common cause of infertility in ICSI candidates.