Incremental Control Synthesis for Robotics in the Presence of Temporal Logic Specifications

This thesis presents methods for incrementally constructing controllers in the presence of uncertainty and nonlinear dynamics. The basic setting is motion planning subject to temporal logic specifications. Broadly, two categories of problems are treated. The first is reactive formal synthesis when so-called discrete abstractions are available. The fragment of linear-time temporal logic (LTL) known as GR(1) is used to express assumptions about an adversarial environment and requirements of the controller. Two problems of changes to a specification are posed that concern the two major aspects of GR(1): safety and liveness. Algorithms providing incremental updates to strategies are presented as solutions. In support of these, an annotation of strategies is developed that facilitates repeated modifications. A variety of properties are proven about it, including necessity of existence and sufficiency for a strategy to be winning. The second category of problems considered is non-reactive (open-loop) synthesis in the absence of a discrete abstraction. Instead, the presented stochastic optimization methods directly construct a control input sequence that achieves low cost and satisfies a LTL formula. Several relaxations are considered as heuristics to address the rarity of sampling trajectories that satisfy an LTL formula and demonstrated to improve convergence rates for Dubins car and single-integrators subject to a recurrence task.

Ambientes da infância e a formação do educador: arranjo espacial no berçário

Esta tese teve o objetivo de investigar o processo de apropriação do espaço por educadores que atuam nos berçários da Creche Institucional Doutor Paulo Niemeyer. Trata-se de um estudo de caso/intervenção o qual busca entender os significados e sentidos produzidos por esses sujeitos e as transformações dos arranjos espaciais provocadas pelas intervenções ocorridas em 2008, que enfocaram a formação em serviço através da participação dos mesmos como co-pesquisadores. Partimos do pressuposto de que o espaço/ambiente é um mediador das práticas pedagógicas e do desenvolvimento infantil. Discutimos a concepção de espaço e de outras categorias espaciais (ambiente, território e lugar) a partir da abordagem interdisciplinar (Filosofia, Geografia, Arquitetura, Psicologia e Educação), e histórico-cultural, destacando o caráter relacional do mesmo. Participaram da pesquisa 22 educadores e 37 crianças dos 3 agrupamentos de berçários, além da diretora. Para a produção dos dados, foram realizados os seguintes procedimentos metodológicos: entrevista com a diretora, observação e registro em diário de bordo e fotográfico dos arranjos espaciais e suas transformações, sessões reflexivas com os educadores e aplicação de um questionário nos educadores. Os resultados indicam que as intervenções, via ações colaborativas, propiciaram mudanças significativas nos arranjos espaciais, aumentando a quantidade e a qualidade da estruturação espacial. Igualmente, esta pesquisa possibilitou a reflexão da prática pedagógica e a ressignificação do papel do ambiente no fazer pedagógico. Esperamos que esta pesquisa contribua para a melhoria da qualidade da educação de crianças pequenas e que o uso desta metodologia, da qual os educadores participaram como co-pesquisadores, possa auxiliar no processo de formação em serviço desses profissionais e também em outras pesquisas que privilegiem o víeis interventivo no contexto de investigação.

Utilização de métodos de comparação de sequências para a detecção de genes taxonomicamente restritos

Desde a década de 1990, os esforços internacionais para a obtenção de genomas completos levaram à determinação do genoma de inúmeros organismos. Isto, aliado ao grande avanço da computação, tem permitido o uso de abordagens inovadoras no estudo da estrutura, organização e evolução dos genomas e na predição e classificação funcional de genes. Entre os métodos mais comumente empregados nestas análises está a busca por similaridades entre sequências biológicas. Análises comparativas entre genomas completamente sequenciados indicam que cada grupo taxonômico estudado até o momento contém de 10 a 20% de genes sem homólogos reconhecíveis em outras espécies. Acredita-se que estes genes taxonomicamente restritos (TRGs) tenham um papel importante na adaptação a nichos ecológicos particulares, podendo estar envolvidos em importantes processos evolutivos. Entretanto, seu reconhecimento não é simples, sendo necessário distingui-los de ORFs não-funcionais espúrias e/ou artefatos derivados dos processos de anotação gênica. Além disso, genes espécie- ou gêneroespecíficos podem representar uma oportunidade para o desenvolvimento de métodos de identificação e/ou tipagem, tarefa relativamente complicada no caso dos procariotos, onde o método padrão-ouro na atualidade envolve a análise de um grupo de vários genes (MultiLocus Sequence Typing MLST). Neste trabalho utilizamos dados produzidos através de análises comparativas de genomas e de sequências para identificar e caracterizar genes espécie- e gênero-específicos, os quais possam auxiliar no desenvolvimento de novos métodos para identificação e/ou tipagem, além de poderem lançar luz em importantes processos evolutivos (tais como a perda e ou origem de genes em linhagens particulares, bem como a expansão de famílias de genes em linhagens específicas) nos organismos estudados.

Metodología analítica para el control de calidad en ambientadores higiénicos basados en la cuantificación de sus componentes mediante cromatografía de gases acoplada a espectrometría de masas (GC/MS).

Nota técnica para el análisis de compuestos volátiles en fórmulas higiénicas

Tudo é um: fluxo entre desenho e verbo

Nesta Dissertação, investigo o conjunto de desenhos que denominei desenhos-conceitos e que constituem-se como uma prática processual da minha atuação enquanto artista. Tal investigação é percorrida através de seis tangentes transdisciplinares na tentativa de estabelecer pontos de contato entre a prática do Desenho e outras práticas contemporâneas investigativas do conhecimento humano. São elas: Tangente Diagramas, Tangente Cosmologia, Tangente Desenhos, Tangente Linguística, Tangente Lógica/Matemática e Tangente Escritura. A pesquisa procura estabelecer uma maior proximidade entre teoria e obra apresentando-se como texto dissertivo e também como a elaboração de um Fichário. Neste Fichário o léxico dos desenhos-conceitos é apresentado em conjunto com uma série de anotações que permearam a investigação e ambos, desenhos-conceitos e anotações, configuram-se como pontos-chave para a formação da arquitetura conceitual do léxico. Tanto o texto dissertivo quanto as anotações e desenhos presentes no Fichário tecem indagações acerca da relação entre o espaço-tempo e o corpo daquele que performa ações. A pesquisa conclui na abertura de novos procedimentos práticos, através da ideia de performatividade na realização de ações, com as obras Desire to communicate e Obscena.

Gene function prediction from synthetic lethality networks via ranking on demand.

MOTIVATION: Synthetic lethal interactions represent pairs of genes whose individual mutations are not lethal, while the double mutation of both genes does incur lethality. Several studies have shown a correlation between functional similarity of genes and their distances in networks based on synthetic lethal interactions. However, there is a lack of algorithms for predicting gene function from synthetic lethality interaction networks. RESULTS: In this article, we present a novel technique called kernelROD for gene function prediction from synthetic lethal interaction networks based on kernel machines. We apply our novel algorithm to Gene Ontology functional annotation prediction in yeast. Our experiments show that our method leads to improved gene function prediction compared with state-of-the-art competitors and that combining genetic and congruence networks leads to a further improvement in prediction accuracy.

Bibliography on pearl oysters

The preparation of this preliminary list was undertaken to meet the needs of the present investigation of the Pearl Banks, Gulf of Mannar. The recent repopulation of the Pearl Banks has revived interest in Ceylon's pearls and pearl fisheries. Successful fisheries have been held recently and surveys of the Pearl Banks are carried out regularly. The bibliography deals with all aspects of the biology of the pearl oyster, as well as the pearl fisheries. But its scope is limited by the library facilities available at the Fisheries Research Station, the Colombo Museum Library, the University of Ceylon Library and the Library of the Ceylon Institute for Scientific and Industrial Research. Annotation is not possible at this stage, for all publications are not available for reference.

Gene duplication in the genome of parasitic Giardia lamblia

Background: Giardia are a group of widespread intestinal protozoan parasites in a number of vertebrates. Much evidence from G. lamblia indicated they might be the most primitive extant eukaryotes. When and how such a group of the earliest branching unicellular eukaryotes developed the ability to successfully parasitize the latest branching higher eukaryotes (vertebrates) is an intriguing question. Gene duplication has long been thought to be the most common mechanism in the production of primary resources for the origin of evolutionary novelties. In order to parse the evolutionary trajectory of Giardia parasitic lifestyle, here we carried out a genome-wide analysis about gene duplication patterns in G. lamblia. Results: Although genomic comparison showed that in G. lamblia the contents of many fundamental biologic pathways are simplified and the whole genome is very compact, in our study 40% of its genes were identified as duplicated genes. Evolutionary distance analyses of these duplicated genes indicated two rounds of large scale duplication events had occurred in G. lamblia genome. Functional annotation of them further showed that the majority of recent duplicated genes are VSPs (Variant-specific Surface Proteins), which are essential for the successful parasitic life of Giardia in hosts. Based on evolutionary comparison with their hosts, it was found that the rapid expansion of VSPs in G. lamblia is consistent with the evolutionary radiation of placental mammals. Conclusions: Based on the genome-wide analysis of duplicated genes in G. lamblia, we found that gene duplication was essential for the origin and evolution of Giardia parasitic lifestyle. The recent expansion of VSPs uniquely occurring in G. lamblia is consistent with the increment of its hosts. Therefore we proposed a hypothesis that the increment of Giradia hosts might be the driving force for the rapid expansion of VSPs.

Combining information sources for confidence estimation with CRF models

Obtaining accurate confidence measures for automatic speech recognition (ASR) transcriptions is an important task which stands to benefit from the use of multiple information sources. This paper investigates the application of conditional random field (CRF) models as a principled technique for combining multiple features from such sources. A novel method for combining suitably defined features is presented, allowing for confidence annotation using lattice-based features of hypotheses other than the lattice 1-best. The resulting framework is applied to different stages of a state-of-the-art large vocabulary speech recognition pipeline, and consistent improvements are shown over a sophisticated baseline system. Copyright © 2011 ISCA.

Identification of Differentially Expressed Genes Between Cloned and Zygote-Developing Zebrafish (Danio rerio) Embryos at the Dome Stage Using Suppression Subtractive Hybridization

Comparative analyses of differentially expressed genes between somatic cell nuclear transfer (SCNT) embryos and zygote-developing (ZD) embryos are important for understanding the molecular mechanism underlying the reprogramming processes. Herein, we used the suppression subtractive hybridization approach and from more than 2900 clones identified 96 differentially expressed genes between the SCNT and ZD embryos at the dome stage in zebrafish. We report the first database of differentially expressed genes in zebrafish SCNT embryos. Collectively, our findings demonstrate that zebrafish SCNT embryos undergo significant reprogramming processes during the dome stage. However, most differentially expressed genes are down-regulated in SCNT embryos, indicating failure of reprogramming. Based on Ensembl description and Gene Ontology Consortium annotation, the problems of reprogramming at the dome stage may occur during nuclear remodeling, translation initiation, and regulation of the cell cycle. The importance of regulation from recipient oocytes in cloning should not be underestimated in zebrafish.

improving document icon to re-find efficiently what you need

It is common that documents are represented by document icon in graphical user interfaces. The document icon facilitates user to retrieve documents, but it is difficult to distinguish the document from a collection of documents that user have accessed to. Our paper presents a document icon on which the users can add some subjective values and mark. Then we describe a system ex-explorer that users can browser and search the extent document icon. We found that it is easy to re-find the document on which users added some annotation or mark by themselves.

Proteomic analysis of differentially expressed proteins in lymphoid organ of Fenneropenaeus chinensis response to Vibrio anguillarum stimulation

To gain an insight into the function of shrimp lymphoid organ at protein level, we analyzed the proteome of lymphoid organ in healthy Chinese shrimp Fenneropenaeus chinensis (F. chinensis) through two-dimensional gel electrophoresis (2-DE) based proteomic approach. A total of 95 spots representing 75 protein entries were identified by liquid chromatography tandem mass spectrometry (LC-MS/MS) with both online and in-house database. According to Gene Ontology (GO) annotation of biological process, the identified proteins were classified into 13 categories. Among them, approximately 36% of proteins related to cytoskeleton are noticeable. Then, a comparative proteomic approach was employed to investigate the differentially expressed proteins in lymphoid organ of Vibrio anguillarum-challenged F. chinensis. At 24 h post-injection (hpi), 17 differentially expressed protein spots were successfully identified, including 4 up-regulated protein spots (represent 4 proteins: cathepsin L protein similar to squid CG16901-PC, protein kinase C and protein similar to T-complex Chaperonin 5 CG8439-PA), and 13 down-regulated protein spots (represent 9 proteins: actin, beta-actin, cytoplasmic actin CyII, alpha tubulin, beta tubulin, protein similar to proteasome delta, vacuolar ATP synthase subunit B, elongation factor 2, carboxypeptidase B). These data may help us to understand the function of lymphoid organ and the molecular immune mechanism of shrimp responsive to pathogen infection. (C) 2010 Elsevier Ltd. All rights reserved.

汉语地名语音拼写能作为国际地名标志吗

本文针对我国有关管理部门提出对于地点、街道名一律采用汉语拼音作为地名的“罗马化标志 "，在详细分析的基础之上认定所谓的国际地名的罗马化不适合于汉语地名。中国地名的唯一国际性标志就是它的汉字表达。为了让这个地名走向国际，重要的是对它加以注音和翻译。

Understanding Simple Picture Programs

What are the characteristics of the process by which an intent is transformed into a plan and then a program? How is a program debugged? This paper analyzes these questions in the context of understanding simple turtle programs. To understand and debug a program, a description of its intent is required. For turtle programs, this is a model of the desired geometric picture. a picture language is provided for this purpose. Annotation is necessary for documenting the performance of a program in such a way that the system can examine the procedures behavior as well as consider hypothetical lines of development due to tentative debugging edits. A descriptive framework representing both causality and teleology is developed. To understand the relation between program and model, the plan must be known. The plan is a description of the methodology for accomplishing the model. Concepts are explicated for translating the global intent of a declarative model into the local imperative code of a program. Given the plan, model and program, the system can interpret the picture and recognize inconsistencies. The description of the discrepancies between the picture actually produced by the program and the intended scene is the input to a debugging system. Repair of the program is based on a combination of general debugging techniques and specific fixing knowledge associated with the geometric model primitives. In both the plan and repairing the bugs, the system exhibits an interesting style of analysis. It is capable of debugging itself and reformulating its analysis of a plan or bug in response to self-criticism. In this fashion, it can qualitatively reformulate its theory of the program or error to account for surprises or anomalies.

Presentation Based User Interface

A prototype presentation system base is described. It offers mechanisms, tools, and ready-made parts for building user interfaces. A general user interface model underlies the base, organized around the concept of a presentation: a visible text or graphic for conveying information. Te base and model emphasize domain independence and style independence, to apply to the widest possible range of interfaces. The primitive presentation system model treats the interface as a system of processes maintaining a semantic relation between an application data base and a presentation data base, the symbolic screen description containing presentations. A presenter continually updates the presentation data base from the application data base. The user manipulates presentations with a presentation editor. A recognizer translates the user's presentation manipulation into application data base commands. The primitive presentation system can be extended to model more complex systems by attaching additional presentation systems. In order to illustrate the model's generality and descriptive capabilities, extended model structures for several existing user interfaces are discussed. The base provides support for building the application and presentation data bases, linked together into a single, uniform network, including descriptions of classes of objects as we as the objects themselves. The base provides an initial presentation data base network graphics to continually display it, and editing functions. A variety of tools and mechanisms help create and control presenters and recognizers. To demonstrate the base's utility, three interfaces to an operating system were constructed, embodying different styles: icons, menu, and graphical annotation.