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The hunter-and-gatherer approach copes with the problem of dynamic multirobot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring (hunters) and another dexterous in completing (gatherers) the tasks. Although this approach has been studied from the task planning point of view in our previous works, the multirobot exploration and coordination aspects of the problem remain uninvestigated. This paper proposes a multirobot exploration algorithm for hunters based on innovative notions of “expected information gain” to minimize the collective cost of task accomplishments in a distributed manner. Besides, we present a coordination solution between hunters and gatherers by integrating the novel notion of profit margins into the concept of expected information gain. Statistical analysis of extensive simulation results confirms the efficacy of the proposed algorithms compared in different environments with varying levels of obstacle complexities. We also demonstrate that the lack of effective coordination between hunters and gatherers significantly distorts the total effectiveness of the planning, especially in environments containing dense obstacles and confined corridors. Finally, it is statistically proven that the overall workload is distributed equally for each type of agent which ensures that the proposed solution is not biased to a particular agent and all agents behave analogously under similar characteristics.

Consider a dynamic task allocation problem, where tasks are unknowingly distributed over an environment. This paper considers each task comprising two sequential subtasks: detection and completion, where each subtask can only be carried out by a certain type of agent. We address this problem using a novel nature-inspired approach called “hunter and gatherer.” The proposed method employs two complementary teams of agents: one agile in detecting (hunters) and another skillful in completing (gatherers) the tasks. To minimize the collective cost of task accomplishments in a distributed manner, a game-theoretic solution is introduced to couple agents from complementary teams. We utilize market-based negotiation models to develop incentive-based decision-making algorithms relying on innovative notions of “certainty and uncertainty profit margins.” The simulation results demonstrate that employing two complementary teams of hunters and gatherers can effectually improve the number of tasks completed by agents compared to conventional methods, while the collective cost of accomplishments is minimized. In addition, the stability and efficacy of the proposed solutions are studied using Nash equilibrium analysis and statistical analysis, respectively. It is also numerically shown that the proposed solutions function fairly; that is, for each type of agent, the overall workload is distributed equally.

The measurement of power factor (PF) in electrical utility grids is a mainstay of load balancing and is also a critical element of transmission and distribution efficiency. The measurement of PF dates back to the earliest periods of electrical power distribution to public grids. In the wide-area distribution grid, measurement of current waveforms is trivial and may be accomplished at any point in the grid using a current tap transformer. However, voltage measurement requires reference to ground and so is more problematic and measurements are normally constrained to points that have ready and easy access to a ground source. We present two mathematical analysis methods based on kriging and linear least square estimation (LLSE) (regression) to derive PF at nodes with unknown voltages that are within a perimeter of sample nodes with ground reference across a selected power grid. Our results indicate an error average of 1.884% that is within acceptable tolerances for PF measurements that are used in load balancing tasks.

Polydimethylsiloxane (PDMS) is a commonly used material for the design of new cell culture devices. Typically, molded PDMS is bonded to glass or another PDMS layer; however, it is challenging to form high-strength bonds with polymers commonly used for cell culture-ware, such as polystyrene (PS). Therefore, a robust PDMS–PS bonding method would facilitate a wider use of PDMS in tissue culture applications. Herein, we develop an irreversible, stable, and consistent PDMS–PS bonding protocol. We show that this method is superior to other currently available methods because of its bonding strength, reusability, and reliability. Furthermore, we demonstrate the utility of this bonding process in fabricating our Heart-Dyno device, a 96-well-based platform for culturing cardiac organoids. This bonding process has been successfully used over the past 2 years, with hundreds of plates manufactured for drug screening applications. Others may also have similar applications where this method may facilitate the fabrication of more robust PDMS–PS devices.

This study aimed to measure frailty using the Edmonton frail scale (EFS) and examine whether frailty is associated with presenting complaints or worse pelvic floor symptom severity in older urogynecology outpatients. We conducted a cross-sectional study of new urogynecology patients aged 50 and older at 2 urban academic centers between November 2018 and January 2020. Pelvic floor symptom severity was assessed using surveys [overactive bladder validated 8-question screener (OAB-V8), pelvic floor distress inventory, and 6-item female sexual function index]. Multivariable linear and logistic regression analyses were performed to compare chief complaint and questionnaire scores by EFS score, frailty status, and EFS component. A total of 138 women were recruited, with a mean age of 65 years (standard deviation 9.3). 11.6% met the criteria for frailty. Frail women had 6.2 greater adjusted odds of endorsing urinary incontinence symptoms as their presenting complaint, and women with higher EFS scores had worse OAB-V8 scores (adjusted ß=0.04, p=0.03). Depression/sadness were associated with worse urinary and prolapse symptoms. Frailty is common in older urogynecology outpatients, especially those presenting with urinary incontinence. Individual components of the EFS associated with symptomatic pelvic floor dysfunction included depressed mood, lack of reliable help, and incontinence.

Abstract Neutron Capture Enhanced Particle Therapy (NCEPT) boosts the effectiveness of particle therapy by capturing thermal neutrons produced by beam-target nuclear interactions in and around the treatment site, using tumour-specific $$^{10}$$ 10 B or $$^{157}$$ 157 Gd-based neutron capture agents. Neutron captures release high-LET secondary particles together with gamma photons with energies of 478 keV or one of several energies up to 7.94 MeV, for $$^{10}$$ 10 B and $$^{157}$$ 157 Gd, respectively. A key requirement for NCEPT’s translation is the development of in vivo dosimetry techniques which can measure both the direct ion dose and the dose due to neutron capture. In this work, we report signatures which can be used to discriminate between photons resulting from neutron capture and those originating from other processes. A Geant4 Monte Carlo simulation study into timing and energy thresholds for discrimination of prompt gamma photons resulting from thermal neutron capture during NCEPT was conducted. Three simulated $$300\times 300\times 300$$ 300 × 300 × 300 mm $$^3$$ 3 cubic PMMA targets were irradiated by $$^4$$ 4 He or $$^{12}$$ 12 C ion beams with a spread out Bragg peak (SOBP) depth range of 60 mm; one target is homogeneous while the others include $$10\times 10\times 10$$ 10 × 10 × 10 mm $$^3$$ 3 neutron capture inserts (NCIs) of pure $$^{10}$$ 10 B or $$^{157}$$ 157 Gd located at the distal edge of the SOBP. The arrival times of photons and neutrons entering a simulated $$50\times 50\times 50$$ 50 × 50 × 50 mm $$^3$$ 3 ideal detector were recorded. A temporal mask of 50–60 ns was found to be optimal for maximising the discrimination of the photons resulting from the neutron capture by boron and gadolinium. A range of candidate detector and thermal neutron shielding materials were simulated, and detections meeting the proposed acceptance criteria (i.e. falling within the target energy window and arriving 60 ns post beam-off) were classified as true or false positives, depending on their origin. The ratio of true/false positives ( $$R_{TF}$$ R TF ) was calculated; for targets with $$^{10}$$ 10 B and $$^{157}$$ 157 Gd NCIs, the detector materials which resulted in the highest $$R_{TF}$$ R TF were cadmium-shielded CdTe and boron-shielded LSO, respectively. The optimal irradiation period for both carbon and helium ions was 1 µs for the $$^{10}$$ 10 B NCI and 1 ms for the $$^{157}$$ 157 Gd NCI.

Despite the increasing popularity of liquid chromatography–mass spectrometry (LC-MS)-based lipidomics, there is a lack of accepted and validated methods for lipid extract quality and quantity assessment prior to LC-MS. Fourier-Transform Infrared Spectroscopy (FTIR) has been reported for quantification of pure lipids. However, the impact of complex lipid sample complexity and purity on total lipid quantification accuracy has not been investigated. Here, we report comprehensive assessment of the sample matrix on the accuracy of lipid quantification using Attenuated Total Reflectance (ATR)-FTIR and establish a simple workflow for lipidomics sample quantification. We show that both pure and complex lipids show characteristic FTIR vibrations of CH- and C=O-stretching vibrations, with a quantitative range of 40–3000 ng and a limit of detection of 12 ng, but sample extraction method and local baseline subtraction during FTIR spectral processing significantly impact lipid quantification via CH stretching. To facilitate sample quality screening, we developed the Lipid Quality (LiQ) score from a spectral library of common contaminants, using a ratio of peak heights between CH stretching vibrations maxima and the collective vibrations from amide/amine, CH-stretching minima and sugar moieties. Taking all tested parameters together, we propose a rapid FTIR workflow for routine lipidomics sample quality and quantity assessment and tested this workflow by comparing to the total LC-MS intensity of targeted lipidomics of 107 human plasma lipid extracts. Exclusion of poor-quality samples based on LiQ score improved the correlation between FTIR and LC-MS quantification. The uncertainty of absolute quantification by FTIR was estimated using a 795 ng SPLASH LipidoMix standard to be

Abstract Background Caveolae proteins play diverse roles in cancer development and progression. In prostate cancer, non‐caveolar caveolin‐1 (CAV1) promotes metastasis, while CAVIN1 attenuates CAV1‐induced metastasis. Here, we unveil a novel mechanism linking CAV1 to selective loading of exosomes with metastasis‐promoting microRNAs. Results We identify hnRNPK as a CAV1‐regulated microRNA binding protein. In the absence of CAVIN1, non‐caveolar CAV1 drives localisation of hnRPNK to multi‐vesicular bodies (MVBs), recruiting AsUGnA motif‐containing miRNAs and causing their release within exosomes. This process is dependent on the lipid environment of membranes as shown by cholesterol depletion using methyl‐β‐cyclodextrin or by treatment with n‐3 polyunsaturated fatty acids. Consistent with a role in bone metastasis, knockdown of hnRNPK in prostate cancer PC3 cells abolished the ability of PC3 extracellular vesicles (EV) to induce osteoclastogenesis, and biofluid EV hnRNPK is elevated in metastatic prostate and colorectal cancer. Conclusions Taken together, these results support a novel pan‐cancer mechanism for CAV1‐driven exosomal release of hnRNPK and associated miRNA in metastasis, which is modulated by the membrane lipid environment.

Fourier transform infrared (FTIR) spectroscopy provides a (bio)chemical snapshot of the sample, and was recently used in proof-of-concept cohort studies for COVID-19 saliva screening. However, the biological basis of the proposed technology has not been established. To investigate underlying pathophysiology, we conducted controlled infection experiments on Vero E6 cells in vitro and K18-hACE2 mice in vivo. Potentially infectious culture supernatant or mouse oral lavage samples were treated with ethanol or 75% (v/v) Trizol for attenuated total reflectance (ATR)-FTIR spectroscopy and proteomics, or RT-PCR, respectively. Controlled infection with UV-inactivated SARS-CoV-2 elicited strong biochemical changes in culture supernatant/oral lavage despite a lack of viral replication, determined by RT-PCR or a cell culture infectious dose 50% assay. Nevertheless, SARS-CoV-2 infection induced additional FTIR signals over UV-inactivated SARS-CoV-2 infection in both cell and mouse models, which correspond to aggregated proteins and RNA. Proteomics of mouse oral lavage revealed increased secretion of kallikreins and immune modulatory proteins. Next, we collected saliva from a cohort of human participants (n = 104) and developed a predictive model for COVID-19 using partial least squares discriminant analysis. While high sensitivity of 93.48% was achieved through leave-one-out cross-validation, COVID-19 patients testing negative on follow-up on the day of saliva sampling using RT-PCR was poorly predicted in this model. Importantly, COVID-19 vaccination did not lead to the misclassification of COVID-19 negatives. Finally, meta-analysis revealed that SARS-CoV-2 induced increases in the amide II band in all arms of this study and in recently published cohort studies, indicative of altered β-sheet structures in secreted proteins. In conclusion, this study reveals a consistent secretory pathophysiological response to SARS-CoV-2, as well as a simple, robust method for COVID-19 saliva screening using ATR-FTIR.

Abstract Background CMV infections have been linked to vasculopathies like atherosclerosis and Scleroderma. CMV infects vascular endothelium with intermittent shedding of the virus and the development of latency. Methods We adopted a model of arteritis, developed by Presti et al. (1998), triggered by murine cytomegalovirus (MCMV) infection. Our studies focused on neointima formation. Groups of mice include: 1) immunocompetent 129S, 2) immunocompetent 129S receiving whole body irradiation and MCMV, 3) IFN-γR-/- receiving MCMV, and 4) IFN-γR-/- receiving MCMV and whole body irradiation. Results Mice were inoculated with MCMV (5 x 104 or 1 x 105 PFU's) by i.p. injection; hearts and abdominal aortas were collected and histopathology evaluated. Infected immunocompetent animals exhibited widespread perivascular inflammation, which subsided by 8 weeks. Intimal pathology was not observed in any control group. Immunocompetent animals receiving MCMV and irradiation developed mild to moderate intimal lesions associated with medial and adventitial inflammation. IFN-γR-/- mice infected for 4 months and receiving whole body irradiation 2 months after infection developed pathology characterized by extensive adventitial and medial infiltrate and significant neointima, suggesting that infection and immunosuppression were co-requisites of neointima formation. Immunohistochemical analysis revealed myofibroblasts as a major component of neointima. The disease is characterized by up-regulation of growth factors (TGF-β1, PDGF-A and B). Apoptosis was detected in the intimal layer of affected aortas. Active proliferation of myofibroblasts and infiltrating cells was also detected. Conclusion These results indicate that CMV infections may lead to intimal injury that results in the formation of neointima characteristic of autoimmune vasculopathies.

As industry moves toward an era of complete automation and mass customisation, automated guided vehicles (AGVs) are used as material handling systems. However, the current techniques that provide navigation, control, and manoeuvrability of automated guided vehicles threaten to create bottlenecks and inefficiencies in manufacturing environments that strive towards the optimisation of part production. This paper proposes a decentralised localisation technique for an automated guided vehicle without any non-holonomic constraints. Incorporation of these vehicles into the material handling system of a computer-integrated manufacturing environment would increase the characteristics of robustness, efficiency, flexibility, and advanced manoeuvrability.