Combinatorial Optimization and Performance Analysis of a Multi-arm Cartesian Robotic Fruit Harvester—Extensions of Graph Coloring

A mobile melon robotic harvester consisting of multiple Cartesian manipulators, each with three degrees of freedom, is being developed. In order to design an optimal robot in terms of number of arms, manipulator capabilities, and robot speed, a method of allocating the fruits to be picked by each manipulator in a way that yields the maximum harvest has been developed. Such a method has already been devised for a multi-arm robot with 2DOF each. The maximum robotic harvesting problem was shown there to be an example of the maximum k-colorable subgraph problem (MKCSP) on an interval graph. However, for manipulators with 3DOF, the additional longitudinal motion results in variable intervals. To overcome this issue, we devise a new model based on the color-dependent interval graph (CDIG). This enables the harvest by multiple robotic arms to be modeled as a modified version of the MKCSP. Based on previous research, we develop a greedy algorithm that solves the problem in polynomial time, and prove its optimality using induction. As with the multi-arm 2DOF robot, when simulated numerous times on a field of randomly distributed fruits, the algorithm yields a nearly identical percentage of fruit harvested for given robot parameters. The results of the probabilistic analysis developed for the 2DOF robot was modified to yield a formula for the expected harvest ratio of the 3DOF robot. The significance of this method is that it enables selecting the most efficient actuators, number of manipulators, and robot forward velocity for maximal robotic fruit harvest.     

You said it before and you'll say it again: Expectations of consistency in communication.

Repeated reference creates strong expectations in addressees that a speaker will continue to use the same expression for the same object. The authors investigate the root reason for these expectations by comparing a cooperativeness-based account (Grice, 1975) with a simpler consistency-based account. In two eye-tracking experiments, the authors investigated the expectations underlying the effect of precedents on comprehension. The authors show that listeners expect speakers to be consistent in their use of expressions even when these expectations cannot be motivated by the assumption of cooperativeness. The authors conclude that though this phenomenon seems to be motivated by cooperativeness, listeners' expectation that speakers be consistent in their use of expressions is governed by a general expectation of consistency. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A note on efficient aggregate queries in sensor networks

We consider a scenario where nodes in a sensor network hold numeric items, and the task is to evaluate simple functions of the distributed data. In this note we present distributed protocols for computing the median with sublinear space and communication complexity per node. Specifically, we give a deterministic protocol for computing median with polylog complexity and a randomized protocol that computes an approximate median with polyloglog communication complexity per node. On the negative side, we observe that any deterministic protocol that counts the number of distinct data items must have linear complexity in the worst case.     

Sleeved co-clustering of lagged data

The paper focuses on mining clusters that are characterized by a lagged relationship between the data objects. We call such clusters lagged co-clusters. A lagged co-cluster of a matrix is a submatrix determined by a subset of rows and their corresponding lag over a subset of columns. Extracting such subsets may reveal an underlying governing regulatory mechanism. Such a regulatory mechanism is quite common in real-life settings. It appears in a variety of fields: meteorology, seismic activity, stock market behavior, neuronal brain activity, river flow, and navigation, but a limited list of examples. Mining such lagged co-clusters not only helps in understanding the relationship between objects in the domain, but assists in forecasting their future behavior. For most interesting variants of this problem, finding an optimal lagged co-cluster is NP-complete problem. We present a polynomial-time Monte-Carlo algorithm for mining lagged co-clusters. We prove that, with fixed probability, the algorithm mines a lagged co-cluster which encompasses the optimal lagged co-cluster by a maximum 2 ratio columns overhead and completely no rows overhead. Moreover, the algorithm handles noise, anti-correlations, missing values, and overlapping patterns. The algorithm is extensively evaluated using both artificial and real-world test environments. The first enable the evaluation of specific, isolated properties of the algorithm. The latter (river flow and topographic data) enable the evaluation of the algorithm to efficiently mine relevant and coherent lagged co-clusters in environments that are temporal, i.e., time reading data and non-temporal.     

Guaranteeing the Diversity of Number Generators

A major problem in using iterative number generators of the form x_i=f(x_i−1) is that they can enter unexpectedly short cycles. This is hard to analyze when the generator is designed, hard to detect in real time when the generator is used, and can have devastating cryptanalytic implications. In this paper we define a measure of security, called sequence diversity, which generalizes the notion of cycle-length for noniterative generators. We then introduce the class of counter-assisted generators and show how to turn any iterative generator (even a bad one designed or seeded by an adversary) into a counter-assisted generator with a provably high diversity, without reducing the quality of generators which are already cryptographically strong.     

Design and calibration of curved and see-through integral imaging 3D display

Virtual Reality - Heads-up displays that are ‘see-through’ and ‘curved’ and capable of displaying 3D contents are considered crucial for augmented reality-based navigation...     

Axisymmetric waves in electrohydrodynamic flows

The formation of nonlinear axisymmetric waves on inviscid irrotational liquid jets in the presence of radial electric fields is considered. Gravity is neglected but surface tension is considered. Electrohydrodynamic waves of arbitrary amplitude and wavelength are computed using finite-difference methods. Particular attention is paid to nonlinear traveling waves. In the first class of problems, an electric field generated by placing the liquid jet inside a hollow cylindrical electrode held at constant voltage, its axis coinciding with that of the jet, is studied. The jet is assumed to be a perfect conductor whose free surface is stressed by the electric field acting in the hydrodynamically passive annulus. In the second class of problems, the annular gas is a perfect conductor that transmits a constant voltage onto the liquid/gas surface. The liquid axisymmetrically wets a constant-radius cylindrical rod electrode placed coaxially with respect to the hollow outer electrode, and held at a different constant voltage. The fluid dynamics and electrostatics need to be addressed simultaneously in the inner region. Axisymmetric interfacial waves influenced by surface tension and electrical stresses are computed in both cases. The computations are capable of following highly nonlinear solutions and predict, for certain parameter values, the onset of interface pinching accompanied with the formation of toroidal bubbles. For given wave amplitudes, the results suggest that, for the former case, the electric field delays bubble formation and reduces wave steepness, while for the latter case the electric field promotes bubble formation, all other parameters being equal.     

The Emerging Role of Venetoclax-Based Treatments in Acute Lymphoblastic Leukemia

Venetoclax, a B-cell lymphoma (BCL-2) inhibitor, in combination with hypomethylating agents has become the new standard of care in elderly and unfit patients with acute myeloid leukemia, with significantly improved overall survival and quality of life. Studies of venetoclax combined with high-dose chemotherapy are emerging with evidence of higher rates of molecular remission. Recently, a growing number of publications bring forth the use of venetoclax in patients with acute lymphoblastic leukemia (ALL). In the current review, we present the biological rationale of BCL-2 inhibition in ALL, how the interplay of BH3 proteins modulate the response and the current clinical experience with various combinations.