Robot coordination for energy-balanced matching and sequence dispatch of robots to events

Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch). In a distributed setting, each event is discovered by a sensor and reported to a robot. Here, we present novel algorithms aimed at overcoming the shortcomings of several existing solutions. We propose pairwise distance based matching algorithm (PDM) to eliminate long edges by pairwise exchanges between matching pairs. Our sequence dispatch algorithm (SQD) iteratively finds the closest event-robot pair, includes the event in dispatch schedule of the selected robot and updates its position accordingly. When event-robot distances are multiplied by robot resistance (inverse of the remaining energy), the corresponding energy-balanced variants are obtained. We also present generalizations which handle multiple visits and timing constraints. Our localized algorithm MAD is based on information mesh infrastructure and local auctions within the robot network for obtaining the optimal dispatch schedule for each robot. The simulations conducted confirm the advantages of our algorithms over other existing solutions in terms of average robot-event distance and lifetime.

The adaptive significance of provisioning and foraging coordination between breeding partners.

Sexual conflict over parental care relies on the fundamental assumption that parents do not share the cost of their partner's effort on future reproduction. However, this is unlikely to be true whenever partners breed together more than once. In that case, individuals should try to optimize the cost and benefits for the pair, rather than only for themselves. Here we seek to establish whether the synchronization of parents' provisioning visits to the nest could fulfill this function. We conducted a brood-size manipulation experiment on wild zebra finches to test whether nest visit synchrony was flexible and beneficial for nestlings' growth, while controlling for the confounding effects of pair "quality" and synchrony away from the nest during foraging. Using a network of readers to track parents at nests and feeding stations, we found that nest visit synchrony responded directly to the brood manipulation and increased with brood size. Synchrony at the nest and while foraging were correlated, but the latter better predicted nestling mass, possibly because it was associated with more regular provisioning patterns. Our findings suggest that parental coordination could indeed play an important role in partners' investment decisions, underpinning the evolution of the most prominent mating system in birds.

Training a system-literate care coordination workforce.

People with chronic complex conditions continue to experience increasing health system fragmentation and poor coordination. To reverse these trends, one solution has been an investment in effective models of care coordination that use a care coordinator workforce. Care coordinators are not a homogenous workforce - but an applied professional role, providing direct and indirect care, and is often undertaken by nurses, allied health professionals, social workers or general practitioners. In Australia, there is no training curriculum nor courses, nor nationally recognised professional quality standards for the care coordinator workforce. With the growing complexity and fragmentation of the health care system, health system literacy - shared understanding of the roles and contributions of the different workforce professions, organisations and systems, among patients and indeed the health workforce is required. Efforts to improve health system literacy among the health workforce are increasing at a policy, practice and research level. However, insufficient evidence exists about what are the health system literacy needs of care coordinators, and what is required for them to be most effective. Key areas to build a health system literate care coordination workforce are presented. Care coordination is more than an optional extra, but one of the only ways we are going to be able to provide equitable health services for people with chronic complex conditions. People with low health literacy require more support with the coordination of their care, therefore we need to build a high performing care coordinator workforce that upholds professional quality standards, and is health literacy responsive.

Desymmetrization of an octahedral coordination complex Inside a self-assembled exoskeleton

The synthesis of a centrally functionalized, ribbon-shaped [6]polynorbornane ligand L that self-assembles with PdII cations into a (Pd2L4) coordination cage is reported. The shape-persistent (Pd2L4) cage contains two axial cationic centers and an array of four equatorial H-bond donors pointing directly towards the center of the cavity. This precisely defined supramolecular environment is complementary to the geometry of classic octahedral complexes [M(XY)6] with six diatomic ligands. Very strong binding of [Pt(CN)6]2- to the cage was observed, with the structure of the host-guest complex ([Pt(CN)6]@Pd2L4) supported by NMR spectroscopy, MS, and X-ray data. The self-assembled shell imprints its geometry on the encapsulated guest, and desymmetrization of the octahedral platinum species by the influence of the D4h-symmetric second coordination sphere was evidenced by IR spectroscopy. [Fe(CN)6]3- and square-planar [Pt(CN)4]2- were strongly bound. Smaller octahedral anions such as [SiF6]2-, neutral carbonyl complexes ([M(CO)6]; M=Cr, Mo, W) and the linear [Ag(CN)2]- anion were only weakly bound, showing that both size and charge match are key factors for high-affinity binding.