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This paper introduces the Smac Planner, an openly available search-based planning framework with multiple algorithm implementations including 2D-A*, Hybrid-A*, and State Lattice planners. This work is motivated by the lack of performant and available feasible planners for mobile and surface robotics research. This paper contains three main contributions. First, it briefly describes a minimal open-source software framework where search-based planners may be easily added. Further, this paper characterizes new variations on the feasible planners - dubbed Cost-Aware - specific to mobile roboticist's needs. This fills the gap of missing kinematically feasible implementations suitable for academic, extension, and deployed use. Finally, we provide baseline benchmarking against other standard planning frameworks. Smac Planner has further significance by becoming the standard open-source planning system within ROS 2's Nav2 framework which powers thousands of robots in research and industry.

Yeasts are single-celled fungi. They are essential components of the modern world, ours and theirs, and yet their stories are hidden. Their consequences often take centre stage, but they themselves are rarely featured, whether in history, art, or even science. This absence has taken on new importance as it is realized that some yeast species may have begun to go extinct. These yeasts are threatened, of all things, by the declines in insect populations and, of course, indirectly and directly, by us. But this is the end of the story – let us start a little earlier.

Humans have relied on sourdough starter microbial communities to make leavened bread for thousands of years, but only a small fraction of global sourdough biodiversity has been characterized. Working with a community-scientist network of bread bakers, we determined the microbial diversity of 500 sourdough starters from four continents. In sharp contrast with widespread assumptions, we found little evidence for biogeographic patterns in starter communities. Strong co-occurrence patterns observed in situ and recreated in vitro demonstrate that microbial interactions shape sourdough community structure. Variation in dough rise rates and aromas were largely explained by acetic acid bacteria, a mostly overlooked group of sourdough microbes. Our study reveals the extent of microbial diversity in an ancient fermented food across diverse cultural and geographic backgrounds.

A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are the regions on the boundary between open space and unexplored space. A mobile robot is able to construct its map by adding new space and moving to unvisited frontiers until the entire environment has been explored. The existing exploration methods suffer from low exploration efficiency in complex environments due to the lack of a systematical way to determine and assign optimal exploration command. Leveraging on the abstracted information from the GVD map (global) and the detected frontier in the local sliding window, a global-local exploration strategy is proposed to handle the exploration task in a hierarchical manner. The new exploration algorithm is able to create a modified tree structure to represent the environment while consolidating global frontier information during the self-exploration. The proposed method is verified in simulated environments, and then tested in real-world office environments as well.

RNA interference (RNAi) has become a powerful tool for genetic screening in Drosophila. At the Drosophila RNAi Screening Center (DRSC), we are using a library of over 21,000 double-stranded RNAs targeting known and predicted genes in Drosophila. This library is available for the use of visiting scientists wishing to perform full-genome RNAi screens. The data generated from these screens are collected in the DRSC database (http://flyRNAi.org/cgi-bin/RNAi_screens.pl) in a flexible format for the convenience of the scientist and for archiving data. The long-term goal of this database is to provide annotations for as many of the uncharacterized genes in Drosophila as possible. Data from published screens are available to the public through a highly configurable interface that allows detailed examination of the data and provides access to a number of other databases and bioinformatics tools.