An adjustable force field for multiple robot mission and path planning

Mission and path planning for multiple robots in dynamic environments is required when multiple mobile robots or unmanned vehicles are used for geographically distributed tasks. Assigning tasks and paths for robots for cooperatively accomplishing a mission of reaching to number of target points are addressed in this paper. The methodology that is proposed is based on using an adjustable force field which is suitable for dynamic environment. From the force field analysis, the decisions to assign tasks for each robot are then made. The force field is also used to plan a collision free path for each robot. Adjustable weights for the force field model are proposed to satisfy the constraints of the motion. In this research, the constraints are the cooperation of the robots, the precedence between the targets and between robots, and the discrimination between different obstacles. Two simulations for mission and path planning in 2D and 3D dynamic spaces with multiple robots are presented based on the proposed adjustable force filed. The result of the mission and path planning for three robots cooperatively doing eight target points are shown.

Measuring the adhesion force on natural fibre surface using scanning probe microscopy

This work has focused on measuring the adhesion forces on both untreated and atmospheric helium plasma treated single jute fibre surfaces using scanning probe microscopy (SPM). The measurements were conducted on three differently aged surfaces for one week, three weeks and six weeks using a standard silicon nitride tip in force-volume (f-v) mode. Up to 256 adhesion data points were collected from various locations on the surface of the studied fibres using in-house developed software and the resulting data were statistically analysed by the histogram method. Results obtained from this analysis method were found to be very consistent with a small statistical variation. The work of adhesion, Wa, was calculated from measured adhesion force using the Johnson–Kendall–Roberts (JKR) and Derjaguin–Muller–Toporov (DMT) models. Increases in both adhesion force and work of adhesion were observed on jute fibre with certain levels of atmospheric plasma treatment and ageing time.

Predicting neck pain in Royal Australian Air Force fighter pilots

Objective: Fighter pilots frequently report neck pain and injury, and although risk factors have been suggested, the relationships between risk factors and neck pain have not been quantified. The aim of this study was to identify personal and work behaviors that are significantly associated with neck pain in fighter pilots.
Methods: Eighty-two Royal Australian Air Force fighter pilots were surveyed about their flying experience, neck pain prevalence, and prevention. Multinomial logistic regressions were used to fit models between pilots' neck pain during and after flight and a range of personal and work characteristics.
Results: In-flight neck pain was very weakly, yet positively associated with flight hours. Duration of postflight pain was positively associated with the weekly desktop work hours and the sum of preventative actions taken in flight. The duration pilots were considered temporarily medically unfit for flying was positively associated with pilots' age and their weekly desktop work hours.
Discussion: The risk factors identified by the current study should guide neck pain prevention for fighter pilots. In particular, reducing desktop working hours as well as incorporating specific neck-strengthening exercises and in-flight bracing actions should be considered by agencies to help alleviating neck pain in their pilots

Force amplification response of actin filaments under confined compression

Actin protein is a major component of the cell cytoskeleton, and its ability to respond to external forces and generate propulsive forces through the polymerization of filaments is central to many cellular processes. The mechanisms governing actin's abilities are still not fully understood because of the difficulty in observing these processes at a molecular level. Here, we describe a technique for studying actin–surface interactions by using a surface forces apparatus that is able to directly visualize and quantify the collective forces generated when layers of noninterconnected, end-tethered actin filaments are confined between 2 (mica) surfaces. We also identify a force-response mechanism in which filaments not only stiffen under compression, which increases the bending modulus, but more importantly generates opposing forces that are larger than the compressive force. This elastic stiffening mechanism appears to require the presence of confining surfaces, enabling actin filaments to both sense and respond to compressive forces without additional mediating proteins, providing insight into the potential role compressive forces play in many actin and other motor protein-based phenomena.

Biomarkers in bipolar disorder : a positional paper from the International Society for Bipolar Disorders Biomarkers Task Force

Although the etiology of bipolar disorder remains uncertain, multiple studies examining neuroimaging, peripheral markers and genetics have provided important insights into the pathophysiologic processes underlying bipolar disorder. Neuroimaging studies have consistently demonstrated loss of gray matter, as well as altered activation of subcortical, anterior temporal and ventral prefrontal regions in response to emotional stimuli in bipolar disorder. Genetics studies have identified several potential candidate genes associated with increased risk for developing bipolar disorder that involve circadian rhythm, neuronal development and calcium metabolism. Notably, several groups have found decreased levels of neurotrophic factors and increased pro-inflammatory cytokines and oxidative stress markers. Together these findings provide the background for the identification of potential biomarkers for vulnerability, disease expression and to help understand the course of illness and treatment response. In other areas of medicine, validated biomarkers now inform clinical decision-making. Although the findings reviewed herein hold promise, further research involving large collaborative studies is needed to validate these potential biomarkers prior to employing them for clinical purposes. Therefore, in this positional paper from the ISBD-BIONET (biomarkers network from the International Society for Bipolar Disorders), we will discuss our view of biomarkers for these three areas: neuroimaging, peripheral measurements and genetics; and conclude the paper with our position for the next steps in the search for biomarkers for bipolar disorder.