Formations of robotic swarm: an artificial force based approach

Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding intermember collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc. Also the performance of the proposed distributed swarm control architecture was investigated in the presence of realistic implementation issues such as localization errors, communication range limitations, boundedness of forces etc.

Uniform elongation and the stress-strain flow curve of steels calculated from hardness using empirical correlations

An empirical relationship between the hardness and uniform elongation of non-Austenitic hypoeutectoid steels has been developed. This new hardness-elongation relationship was combined with previously developed correlations of hardness and strength (yield and ultimate tensile strength) to predict the stressstrain flow curve from a single hardness test. The current study considers both power law hardening behavior and exponential hardening behavior. Reasonable agreement was observed between the experimental and predicted flow curves of a high strength, low alloy steel. Additionally, an empirical correlation of the flow strength at instability with hardness is provided. © ASM International.

Identify kinetic features of fibers growing, branching, and bundling in microstructure engineering of crystalline fiber network

Fibers growing, branching, and bundling are essential for the development of crystalline fiber networks of molecular gels. In this work, for two typical crystalline fiber networks, i.e. the network of spherulitic domains and the interconnected fibers network, related kinetic information is obtained using dynamic rheological measurements and analysis in terms of the Avrami theory. In combination with microstructure characterizations, we establish the correlation of the Avrami derived kinetic parameter not only with the nucleation nature and growth dimensionality of fibers and branches, but also with the fiber bundles induced by fiber-fiber interactions. Our study highlights the advantage of simple dynamic rheological measurements over other spectroscopic methods used in previous studies for providing more kinetic information on fiber-fiber interactions, enabling the Avrami analyses to extract distinct kinetic features not only for fibers growing and branching, but also for bundling in the creation of strong interconnected fibers networks. This work may be helpful for the implementation of precise kinetic control of crystalline fiber network formations for achieving desirable microstructures and rheological properties for advanced applications of gel materials. This journal is © the Partner Organisations 2014.

Sensor placement and measurement of wind for water quality studies in urban reservoirs

We study the water quality in an urban district, where the surface wind distribution is an essential input but undergoes high spatial and temporal variations due to the impact of surrounding buildings. In this work, we develop an optimal sensor placement scheme to measure the wind distribution over a large urban reservoir using a limited number of wind sensors. Unlike existing solutions that assume Gaussian process of target phenomena, this study measures the wind that inherently exhibits strong non-Gaussian yearly distribution. By leveraging the local monsoon characteristics of wind, we segment a year into different monsoon seasons that follow a unique distribution respectively. We also use computational fluid dynamics to learn the spatial correlation of wind. The output of sensor placement is a set of the most informative locations to deploy the wind sensors, based on the readings of which we can accurately predict the wind over the entire reservoir in real time. Ten wind sensors are deployed. The in-field measurement results of more than 3 months suggest that the proposed sensor placement and spatial prediction scheme provides accurate wind measurement that outperforms the state-of-the-art Gaussian model based on interpolation-based approaches.

Screening of cannabinoids in industrial-grade hemp using two-dimensional liquid chromatography coupled with acidic potassium permanganate chemiluminescence detection

Widely known for its recreational use, the cannabis plant also has the potential to act as an antibacterial agent in the medicinal field. The analysis of cannabis plants/products in both pharmacological and forensic studies often requires the separation of compounds of interest and/or accurate identification of the whole cannabinoid profile. In order to provide a complete separation and detection of cannabinoids, a new two-dimensional liquid chromatography method has been developed using acidic potassium permanganate chemiluminescence detection, which has been shown to be selective for cannabinoids. This was carried out using a Luna 100 Å CN column and a Poroshell 120 EC-C18 column in the first and second dimensions, respectively. The method has utilized a large amount of the available separation space with a spreading angle of 48.4° and a correlation of 0.66 allowing the determination of more than 120 constituents and mass spectral identification of ten cannabinoids in a single analytical run. The method has the potential to improve research involved in the characterization of sensitive, complex matrices.

Evaluation of the Test-mate ChE (cholinesterase) field kit in acute organophosphorus poisoning

STUDY OBJECTIVE: Measurement of acetylcholinesterase (AChE) is recommended in the management of organophosphorus poisoning, which results in 200,000 deaths worldwide annually. The Test-mate ChE 400 is a portable field kit designed for detecting occupational organophosphorus exposure that measures RBC AChE and plasma cholinesterase (PChE) within 4 minutes. We evaluate Test-mate against a reference laboratory test in patients with acute organophosphorus self-poisoning. METHODS: This was a cross-sectional comparison study of 14 patients with acute organophosphorus poisoning between May 2007 and June 2008. RBC AChE and PChE were measured in 96 and 91 samples, respectively, with the Test-mate ChE field kit and compared with a reference laboratory, using the limits of agreement method (Bland and Altman), κ statistics, and Spearman's correlation coefficients. RESULTS: There was good agreement between the Test-mate ChE and the reference laboratory for RBC AChE. The mean difference (Test-mate-reference) was -0.62 U/g hemoglobin, 95% limits of agreement -10.84 to 9.59 U/g hemoglobin. Good agreement was also observed between the categories of mild, moderate, and severe RBC AChE inhibition (weighted κ 0.85; 95% confidence interval [CI] 0.83 to 0.87). Measurement of PChE also showed good agreement, with a mean difference (Test-mate-reference) of +0.06 U/mL blood, 95% limits of agreement -0.41 to 0.53 U/mL blood. Spearman's correlation coefficients were 0.87 (95% CI 0.81 to 0.91) for RBC AChE and 0.76 (95% CI 0.66 to 0.84) for PChE. Analysis for within-subject correlation of subjects did not change the limits of agreement. CONCLUSION: The Test-mate ChE field kit reliably provides rapid measurement of RBC AChE in acute organophosphorus poisoning.

Stochastic growth and monetary policy: the impacts on the term structure of interest rates

This paper builds a simple, empirically-verifiable rational expectations model for term structure of nominal interest rates analysis. It solves an stochastic growth model with investment costs and sticky inflation, susceptible to the intervention of the monetary authority following a policy rule. The model predicts several patterns of the term structure which are in accordance to observed empirical facts: (i) pro-cyclical pattern of the level of nominal interest rates; (ii) countercyclical pattern of the term spread; (iii) pro-cyclical pattern of the curvature of the yield curve; (iv) lower predictability of the slope of the middle of the term structure; and (v) negative correlation of changes in real rates and expected inflation at short horizons.

Ecotoxicological assessment of sediments from the Santos and São Vicente estuarine system- Brazil

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

GPS receivers for georeferencing of spatial variability of soil attributes

A caracterização da variabilidade espacial dos atributos do solo é indispensável para subsidiar práticas agrícolas de maneira sustentável. A utilização da geoestatística para caracterizar a variabilidade espacial desses atributos, como a resistência mecânica do solo à penetração (RP) e a umidade gravimétrica do solo (UG), é, hoje, prática usual na agricultura de precisão. O resultado da análise geoestatística é dependente da densidade amostral e de outros fatores, como o método de georreferencimento utilizado. Desta forma, o presente trabalho teve como objetivo comparar dois métodos de georreferenciamento para a caracterização da variabilidade espacial da RP e da UG, bem como a correlação espacial dessas variáveis. Foi implantada uma malha amostral de 60 pontos, espaçados em 20 m. Para as medições da RP, utilizou-se de penetrógrafo eletrônico e, para a determinação da UG, utilizou-se de trado holandês (profundidade de 0,0-0,1 m). As amostras foram georreferenciadas, utilizando-se do método de Posicionamento por Ponto Simples (PPS), com de (retirar) receptor GPS de navegação, e Posicionamento Relativo Semicinemático, com receptor GPS geodésico L1. Os resultados indicaram que o georreferenciamento realizado pelo PPS não interferiu na caracterização da variabilidade espacial da RP e da UG, assim como na estrutura espacial da relação dos atributos.

Magnetic susceptibility to identify landscape segments on a detailed scale in the region of Jaboticabal, São Paulo, Brazil

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Mating system of a population of Myracrodruon urundeuva F.F. & M.F. Allemão using the fAFLP molecular marker

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Selection for higher body weight in Nelore cattle is effective in achieving an increase of longissimus muscle area without reducing subcutaneous fat thickness

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Changes of metabolic and inflammatory markers in HIV infection: glucose, lipids, serum Hs-CRP and myeloperoxidase

Objective: HIV infection is exacerbated through additional pro-atherogenic mechanisms related to the processes of immune activation, inflammation, coagulation, and the modification of lipoproteins (e.g., particles of high density lipoprotein), contributing to increased cardiovascular risk. The aim of this study was to analyze the serum concentrations of myeloperoxidase (MPO) and other laboratory parameters in HIV-infected patients treated or not with antiretroviral drugs compared to non-infected individuals.Materials/Methods: The study included 154 volunteers: 47 non-infected individuals (control group - CON), 27 infected and untreated individuals (NTARv group) and 80 treated individuals (TARV group). We analyzed the counts of CD4+ lymphocytes and the viral load of the infected patients, along with the blood count, fasting glucose, total serum cholesterol (CHOL), HDL cholesterol, LDL cholesterol, triglycerides, MPO and high-sensitivity C-reactive protein (CRP) of all study participants.Results: There were significant increases in glucose, CHOL, LDL cholesterol, and triglycerides in the TARV group and significant reductions in the levels of HDL cholesterol for the TARV and NTARV groups. Significantly elevated levels of Hs-CRP were observed only in the TARV group, while levels of MPO were significantly higher in the TARV and NTARV groups compared to the control group. A correlation of MPO with Hs-CRP (r = 0.21, p = 0.032) was observed for HIV-infected patients, but MPO did not correlate significantly with the other analyzed parameters.Conclusions: The investigation of early biomarkers for cardiovascular risk evaluation, such as MPO, contributes to the clinical monitoring of HIV-infected individuals. The serum levels of MPO correlated with Hs-CRP and were high in HIV-infected individuals, indicating a possible predictor of cardiovascular events in these patients. (c) 2012 Elsevier B.V. All rights reserved.

Antioxidant Activity of Commercial Ready-to-Drink Orange Juice and Nectar

Total antioxidant activity (TAA), total phenolic compounds (TPC), and physicochemical characteristics of ready-to-drink orange juice and nectar from the most consumed brands available in Brazil were evaluated. TPC ranged from 18.7 to 54.2 mg of gallic acid/100 mL, and TAA varied from 57.88 to 349.32 mu mol TEAC/100 mL ready-to-drink orange juice and nectar. The ascorbic acid content was the only physicochemical parameter that showed strong variation among packages and brands. Correlation of TPC with TAA showed that the higher the level of TPC the higher the TAA. Correlation of ascorbic acid content with TAA is higher for ready-to-drink orange juice than nectar. The same was found for the correlation of ascorbic acid content with TPC. The results confirm the contribution of the TPC to TAA.

Electromyographic analysis of the masseter and buccinator muscles with the Pro-Fono Facial Exerciser use in bruxers

The aim of this study was to evaluate the efficiency of the Pro-Fono Facial Exerciser (Pro-Fono Productos Especializaclos para Fonoaudiologia Ltda.., Barueri/SP, Brazil) to decrease bruxism, as well as the correlation between the masseter and the buccinator muscles using electromyography (EMG). In this study, 39 individuals ranging from 23 to 48 years of age were selected from a dental school and then underwent surface EMG at three different periods of time: 0, 10, and 70 days. They were divided into a normal control group, a bruxer control group (without device), and an experimental bruxer group who used the device. The bruxer group showed a greater masseter EMG amplitude when compared to the normal group, while the experimental group had deceased activity with a reduction in symptoms. The buccinator EMG spectral analysis of the experimental bruxist group showed asynchronous contractions of the masseter muscle (during jaw opening) after using the Pr6-Fono Facial Exerciser. The normal group also showed asynchronous contractions. Upon correlation of the data between these muscles, the inference is that there is a reduction in bruxism when activating the buccinator muscle.