Autonomous greenhouse gas sampling using multiple robotic boats

Accurately quantifying total greenhouse gas emissions (e.g. methane) from natural systems such as lakes, reservoirs and wetlands requires the spatial-temporal measurement of both diffusive and ebullitive (bubbling) emissions. Traditional, manual, measurement techniques provide only limited localised assessment of methane flux, often introducing significant errors when extrapolated to the whole-of-system. In this paper, we directly address these current sampling limitations and present a novel multiple robotic boat system configured to measure the spatiotemporal release of methane to atmosphere across inland waterways. The system, consisting of multiple networked Autonomous Surface Vehicles (ASVs) and capable of persistent operation, enables scientists to remotely evaluate the performance of sampling and modelling algorithms for real-world process quantification over extended periods of time. This paper provides an overview of the multi-robot sampling system including the vehicle and gas sampling unit design. Experimental results are shown demonstrating the system’s ability to autonomously navigate and implement an exploratory sampling algorithm to measure methane emissions on two inland reservoirs.

Analysis of the MAP/G(a,b)/1/N queue with multiple vacations

This paper deals with a batch service queue and multiple vacations. The system consists of a single server and a waiting room of finite capacity. Arrival of customers follows a Markovian arrival process (MAP). The server is unavailable for occasional intervals of time called vacations, and when it is available, customers are served in batches of maximum size ‘b’ with a minimum threshold value ‘a’. We obtain the queue length distributions at various epochs along with some key performance measures. Finally, some numerical results have been presented.

Task assignment in a multiprocessor system

One of the key problems in the design of any incompletely connected multiprocessor system is to appropriately assign the set of tasks in a program to the Processing Elements (PEs) in the system. The task assignment problem has proven difficult both in theory and in practice. This paper presents a simple and efficient heuristic algorithm for assigning program tasks with precedence and communication constraints to the PEs in a Message-based Multiple-bus Multiprocessor System, M3, so that the total execution time for the program is minimized. The algorithm uses a cost function: “Minimum Distance and Parallel Transfer” to minimize the completion time. The effectiveness of the algorithm has been demonstrated by comparing the results with (i) the lower bound on the execution time of a program (task) graph and (ii) a random assignment.

A Low ML-Decoding Complexity, High Coding Gain, Full-Rate, Full-Diversity STBC for 4 x 2 MIMO System

This paper proposes a full-rate, full-diversity space-time block code(STBC) with low maximum likelihood (ML) decoding complexity and high coding gain for the 4 transmit antenna, 2 receive antenna (4 x 2) multiple-input multiple-output (MIMO) system that employs 4/16-QAM. For such a system, the best code known is the DjABBA code and recently, Biglieri, Hong and Viterbo have proposed another STBC (BHV code) for 4-QAM which has lower ML-decoding complexity than the DjABBA code but does not have full-diversity like the DjABBA code. The code proposed in this paper has the same ML-decoding complexity as the BHV code for any square M-QAM but has full-diversity for 4- and 16-QAM. Compared with the DjABBA code, the proposed code has lower ML-decoding complexity for square M-QAM constellation, higher coding gain for 4- and 16-QAM, and hence a better codeword error rate (CER) performance. Simulation results confirming this are presented.

On the improvement of diversity-multiplexing gain tradeoff in a training based TDD-simo system

This paper investigates the diversity-multiplexing gain tradeoff (DMT) of a time-division duplex (TDD) single-input multiple-output (SIMO) system with perfect channel state information (CSI) at the receiver (CSIR) and partial CSI at the transmitter (CSIT). The partial CSIT is acquired through a training sequence from the receiver to the transmitter. The training sequence is chosen in an intelligent manner based on the CSIR, to reduce the training length by a factor of r, the number of receive antennas. We show that, for the proposed training scheme and a given channel coherence time, the diversity order increases linearly with r for nonzero multiplexing gain. This is a significant improvement over conventional orthogonal training schemes.

Design of a constrained high data rate CDMA system

This paper deals with the design of a high data rate code-division multiple-access (CDMA) system under a speci¯ed jamming mar- gin speci¯cation as well as hardware and band-width limitations. Several choices had to be made in coming up with the design such as specify-ing the number of subcarriers, choice of spread-ing codes and the nature of the modulation.The rationale behind each of the choices made is given. Descriptions of transmitter and receiver are also included. Relevant simulations of cross-correlation are also provided.

Power Controlled Reverse Channel Training Achieves an Infinite Diversity Order in a TDD-SIMO System with Perfect CSIR

In this letter, we analyze the Diversity Multiplexinggain Tradeoff (DMT) performance of a training-based reciprocal Single Input Multiple Output (SIMO) system. Assuming Channel State Information (CSI) is available at the Receiver (CSIR), we propose a channel-dependent power-controlled Reverse Channel Training (RCT) scheme that enables the transmitter to directly estimate the power control parameter to be used for the forwardlink data transmission. We show that, with an RCT power of (P) over bar (gamma), gamma > 0 and a forward data transmission power of (P) over bar, our proposed scheme achieves an infinite diversity order for 0 <= g(m) < L-c-L-B,L-tau/L-c min(gamma, 1) and r > 2, where g(m) is the multiplexing gain, L-c is the channel coherence time, L-B,L-tau is the RCT duration and r is the number of receive antennas. We also derive an upper bound on the outage probability and show that it goes to zero asymptotically as exp(-(P) over bar (E)), where E (sic) (gamma - g(m)L(c)/L-c-L-B,L-tau), at high (P) over bar. Thus, the proposed scheme achieves a significantly better DMT performance compared to the finite diversity order achieved by channel-agnostic, fixed-power RCT schemes.

Power-Controlled Reverse Channel Training in a Multiuser TDD-MIMO Spatial Multiplexing System With CSIR

This paper considers the design of a power-controlled reverse channel training (RCT) scheme for spatial multiplexing (SM)-based data transmission along the dominant modes of the channel in a time-division duplex (TDD) multiple-input and multiple-output (MIMO) system, when channel knowledge is available at the receiver. A channel-dependent power-controlled RCT scheme is proposed, using which the transmitter estimates the beamforming (BF) vectors required for the forward-link SM data transmission. Tight approximate expressions for 1) the mean square error (MSE) in the estimate of the BF vectors, and 2) a capacity lower bound (CLB) for an SM system, are derived and used to optimize the parameters of the training sequence. Moreover, an extension of the channel-dependent training scheme and the data rate analysis to a multiuser scenario with M user terminals is presented. For the single-mode BF system, a closed-form expression for an upper bound on the average sum data rate is derived, which is shown to scale as ((L-c - L-B,L- tau)/L-c) log logM asymptotically in M, where L-c and L-B,L- tau are the channel coherence time and training duration, respectively. The significant performance gain offered by the proposed training sequence over the conventional constant-power orthogonal RCT sequence is demonstrated using Monte Carlo simulations.

Channel estimation at the transmitter in a reciprocal MIMO spatial multiplexing system

This paper considers the problem of channel estimation at the transmitter in a spatial multiplexing-based Time Division Duplex (TDD) Multiple Input Multiple Output (MIMO) system with perfect CSIR. A novel channel-dependent Reverse Channel Training (RCT) sequence is proposed, using which the transmitter estimates the beamforming vectors for forward link data transmission. This training sequence is designed based on the following two metrics: (i) a capacity lower bound, and (ii) the mean square error in the estimate. The performance of the proposed training scheme is analyzed and is shown to significantly outperform the conventional orthogonal RCT sequence. Also, in the case where the transmitter uses water-filling power allocation for data transmission, a novel RCT sequence is proposed and optimized with respect to the MSE in estimating the transmit covariance matrix.

An etched porous interface for on-line capillary electrophoresis-based two-dimensional separation system

The construction and evaluation of an on-column etched fused-silica porous junction for on-line coupling of capillary isoelectric focusing (CIEF) with capillary zone electrophoresis (CZE) are described. Where two separation columns were integrated on a single piece of fused-silica capillary through the etched similar to4 to 5-mm length porous junction along the capillary. The junction is easily prepared by etching a short section of the capillary wall with HF after removing the polyimide coating. The etched section becomes a porous glass membrane that allows only small ions related to the background electrolyte to pass through when high voltage is applied across the separation capillary. The primary advantages of this novel porous junction interface over previous designs (in which the interface is usually formed by fracturing the capillary followed by connecting the two capillaries with a section of microdialysis hollow fiber membrane) are no dead volume, simplicity, and ruggedness, which is particularly well suited for an on-line coupling capillary electrophoresis-based multiple dimensional separation system. The performance of the 2D CIEF-CZE system constructed by such an etched porous junction was evaluated by the analyses of protein mixtures.

Identifying families with multiple problems: Perspectives of practitioners and managers in three nations

Whilst child welfare systems in the United Kingdom, Australia and the United States may share a number of common goals, they are not designed to identify families with multiple problems. Where system output measures have been utilised as proxy measures to detect such families they indicate the presence of families in the population served by child and family social work. In interviews with practitioners and managers working within contrasting welfare systems, we explore how families with multiple problems are identiifed, what repsonses they currently recieve and how their needs might be better met.

A Four-element Antenna System for Mobile Phones

In this letter, a multiantenna system with four printed monopoles is presented. The monopoles that occupy relatively small area are positioned at the four corners of a printed circuit board, so that the four-element antenna system can be equipped on the lid of a folder-type mobile phone, leaving enough space for the circuits and reducing the effect of human hands. Based on simulation, a prototype for the Universal Mobile Telecommunications System (UMTS) operation has been constructed and tested. The measured -10-dB impedance bandwidths of the four elements are larger than 320 MHz with higher than 11.5-dB isolation. Moreover, the proposed antenna can provide spatial and pattern diversity in a diversity/multiple-input-multiple-output (MIMO) system.

L'expression de la protéine de l'hémochromatose HFE est modulée par les lymphocytes T activés et inhibe la présentation antigénique par MHC I

La présentation antigénique par le complexe majeur d’histocompatibilité (MHC) I est un processus ubiquitaire permettant la présentation de protéines endogènes qui reflètent l'état de la cellule à la surface cellulaire aux lymphocytes T CD8+ dans le contexte de la surveillance et la réponse immunitaires. Ainsi, l'expression des molécules du MHC I classiques est induite en réponse aux stimuli inflammatoires afin de favoriser la reconnaissance immunitaire et l'élimination des pathogènes. HFE est une molécule du MHC Ib non-classique qui sert de régulateur négatif de l'absorption du fer. HFE est associé au développement de l'hémochromatose héréditaire (HH), maladie associée au métabolisme du fer mais souvent accompagnée de défauts immunitaires. Ainsi, nous avons en premier lieu étudié l'impact de HFE sur la présentation antigénique par MHC I, afin d'expliquer en partie les défauts immunitaires liés à l'HH associée à HFEC282Y. Puis, compte tenu de l'impact de l'inflammation sur l'expression des molécules du MHC I classiques, nous avons étudié la régulation de l'expression de HFE en réponse aux stimuli inflammatoires induits par les cellules du sang périphérique mononucléées (PBMC). Nous avons mis au point un système d’expression antigénique dans lequel nous contrôlons l’expression de MHC I, de HFE et d’un antigène pour lequel nous avons généré des lymphocytes T CD8+ spécifiques. Nos résultats démontrent que la forme sauvage de HFE (HFEWT), contrairement à sa forme mutée (HFEC282Y), inhibe la reconnaissance de complexes MHC I/peptide (pMHC). Nous avons également démontré que l'inhibition de la reconnaissance est maintenue, indépendamment des niveaux d'expression de MHC I à la surface, d'une compétition pour la β2-microglobuline, de la capacité de HFE d'interagir avec le récepteur de la transferrine, de l'origine de l'antigène ou de l'affinité de celui-ci. Par ailleurs, nous avons identifié les domaines α1-2 de HFEWT comme étant responsables de l'inhibition de la reconnaissance antigénique. Par contre, la reconnaissance de peptides chargés de manière externe sur les molécules du MHC I présentes à la surface n'a démontré aucune inhibition en présence de HFEWT, suggérant que HFEWT pourrait affecter la reconnaissance en interférant avec le processus d'apprêtement antigénique intracellulaire. À l’inverse, nous avons souhaité déterminer si les lymphocytes T activés pouvaient influencer les niveaux d'expression de HFE. En termes de régulation de l'expression de HFE, nous avons établi que HFE est exprimé dans les tissus sains chez l'humain et induit chez les lignées de cancers du colon, du sein, du poumon, du rein et du mélanome. Par ailleurs, en co-cultivant des lymphocytes T activés avec ces lignées tumorales, nous avons démontré que l'expression de HFE est fortement inhibée dans toutes ces lignées tumorales lorsqu'exposées à des lymphocytes T activés. Finalement, la modulation de l'expression de HFE est indépendante du contact cellulaire et semble médiée en partie par le GM-CSF, l'IFN-γ et le TNF. En somme, ces résultats suggèrent que les lymphocytes T de l'hôte modulent l'expression de HFE dans le microenvironnement inflammatoire, ce qui pourrait promouvoir la reconnaissance des antigènes présentés sur les molécules du MHC I présentées aux lymphocytes T CD8+ antigène-spécifiques. De plus, ces études soulèvent la possibilité d'un nouveau rôle physiologique de HFEWT dans la voie de présentation antigénique par MHC I, qui pourrait moduler l'immunogénicité des antigènes et la réponse immunitaire cellulaire chez l'hôte.

Natriuretic peptide regulation of the kidney and urinary bladder in the cane toad, Bufo marinus

The natriuretic peptide system of mammals is important in the control of blood volume but its function in non-mammalian animals is unclear. This study identified a functional natriuretic peptide system in an amphibian and showed that the hormones are involved in the control of fluid balance.

Multiple emitter localization using range only measurements considering geometrical constraints

This paper proposes a constrained optimization approach to improve the accuracy of a Time-of-Arrival (ToA) based multiple target localization system. Instead of using an overdetermined measurement system, this paper uses local distance measurements between the targets/emitters as the geometric constraint.Computer simulations are used to evaluate the performance of the geometrically constrained optimization method.