Tracking and Coordination of Multiple Agents Using Sensor Networks: System Design, Algorithms and Experiments

This paper considers the problem of pursuit evasion games (PEGs), where the objective of a group of pursuers is to chase and capture a group of evaders in minimum time with the aid of a sensor network. The main challenge in developing a real-time control system using sensor networks is the inconsistency in sensor measurements due to packet loss, communication delay, and false detections. We address this challenge by developing a real-time hierarchical control system, named LochNess, which decouples the estimation of evader states from the control of pursuers via multiple layers of data fusion. The multiple layers of data fusion convert noisy, inconsistent, and bursty sensor measurements into a consistent set of fused measurements. Three novel algorithms are developed for LochNess: multisensor fusion, hierarchical multitarget tracking, and multiagent coordination algorithms. The multisensor fusion algorithm converts correlated sensor measurements into position estimates, the hierarchical multitarget tracking algorithm based on Markov chain Monte Carlo data association (MCMCDA) tracks an unknown number of targets, and the multiagent coordination algorithm coordinates pursuers to chase and capture evaders using robust minimum-time control. The control system LochNess is evaluated in simulation and successfully demonstrated using a large-scale outdoor sensor network deployment     

Coexpression of Bcl-2, c-Myc, and p53 oncoproteins as prognostic discriminants in patients with colorectal carcinoma

Lanepitant is a high-affinity, selective neurokinin-1 receptor (NK-1) and is effective in the dural inflammation model of acute migraine. Lanepitant 30, 80, and 240 mg given orally was evaluated in a double-blind, placebo-controlled crossover study to determine its effect in reducing migraine pain and severity of associated symptoms. Outpatients treated four migraine headaches of moderate or severe pain intensity with study drug according to a randomization schedule. They recorded their pain intensity and severity of migraine-associated symptoms at 30, 60, 90, and 120 min. Although 53 patients were randomly allocated to a treatment sequence, only 40 patients completed all treatments. There was no statistically significant difference in improvement in migraine pain at any time for any of the treatments. Additionally, there was no change in severity of migraine-associated symptoms associated with lanepitant therapy. No adverse events could be attributed to lanepitant. Lanepitant was ineffective orally in treating acute migraine in this trial. This may be due to poor bioavailability during a migraine attack. Alternatively, the neurogenic inflammation hypothesis may not apply to migraine.     

Formation of BaCrO4 NanoCrystallites within Thermally Evaporated Sodium Bis-2-Ethylhexyl-Sulfosuccinate and Stearic Acid Thin Films

This paper describes the growth of barium chromate (BaCrO₄) nanocrystallites within thermally evaporated thin films of stearic acid (StA) and sodium bis-2-ethylhexyl-sulfosuccinate by a process of Ba²⁺ ion entrapment followed by in situ reaction with CrO₄²⁻ ions. Dense spherical assemblies of BaCrO₄ nanocrystallites of very uniform size (∼50 nm) were obtained within the two different host matrices. The spherical assemblies were composed of smaller (ca. 5–10 nm size) BaCrO₄ crystals indicating that efficient size control over crystal size may be exercised by the matrix. Contact angle measurements of the BaCrO₄–StA and BaCrO₄–sodium bis-2-ethylhexyl-sulfosuccinate films indicated that they were hydrophobic, thus pointing to the possible role of hydrophobic interaction between the StA and sodium bis-2-ethylhexyl-sulfosuccinate monolayer-covered BaCrO₄ crystals in the assembly process.     

Reusable pouch development for long term space missions: A 3D ohmic model for verification of sterilization efficacy

One of the challenges of food system development during a long term space mission is the need for reheating of food, processing and stabilization of waste products, including food and biological waste. We have previously reported on the development of a pouch with electrodes, which permits reheating and sterilization of its internal contents, and the development of a two-dimensional heat transfer model for design optimization. However, a fully three-dimensional model is necessary for ensuring that thermal processes result in sterility of all parts of the product, particularly edge regions. The ohmic heating of tomato soup in a pouch was simulated using computational fluid dynamics (CFD) codes with user defined functions (UDFs) for electric field equations. In general, good agreement was observed between model and experiment, excepting a zone at the edge, where the model tended to underpredict temperature. The 3D model permitted identification of the potential cold spots over the entire pouch, which was not obvious using our previous 2D model. In particular, the bottom corners of the pouch were found to be a zone of low current density, and showed a temperature of only 53.3 °C even when the peak pouch temperature was 139 °C. The 3D model is a useful tool to optimize electrode configurations, and to assure adequate sterilization processes.