Design of Distributed Reconfigurable Robotics Systems with ReconROS

Robotics applications process large amounts of data in real time and require compute platforms that provide high performance and energy efficiency. FPGAs are well suited for many of these applications, but there is a reluctance in the robotics community to use hardware acceleration due to increased design complexity and a lack of consistent programming models across the software/hardware boundary. In this article, we present ReconROS , a framework that integrates the widely used robot operating system (ROS) with ReconOS, which features multithreaded programming of hardware and software threads for reconfigurable computers. This unique combination gives ROS 2 developers the flexibility to transparently accelerate parts of their robotics applications in hardware. We elaborate on the architecture and the design flow for ReconROS and report on a set of experiments that underline the feasibility and flexibility of our approach.

The first record of Bergamina lineolata (Chydoridae; Aloninae) from Colombia

The Neotropical freshwater cladoceran Bergamina lineolata (Sars, 1901) was found in a small temporal pond in the Magdalena department. Hitherto, it has been reported in Brazil and El Salvador. It was originally described as Alonella lineolata by Sars, 1901 from Brazil and then placed to the genus Bergamina by Elmoor-Loureiro et al. (2013). This is the first record of this species in Colombia. B. lineolata can be identified by a unique combination of characters including: 1) a remarkably large and oblong postabdomen, with three denticles on distal corner; 2) basal spine of the claw very short, length less than the half claw diameter at base; 3) IDL with two setae shorter than ODL seta, armed with fine setules unilaterally in terminal half; 4) endite 1 of trunk limb I with a long smooth seta between endites 1 and 2.

Systematic Mapping of Long-Term Urban Challenges

This paper investigates on long-term challenges faced by local governments. Using empirical evidence from Estonia, this paper aims to help fill a research gap in that there is a lack of a systematic approach on how to analyze common urban challenges via direct involvement of local governments. In terms of conceptual framework, a unique combination of public value theory and mission-oriented innovation is proposed. The data is collected via questionnaire, interviews and workshops involving up to 35 local governments. It is important that instead of current problems relating only to one city, this study focuses on finding shared, long-term challenges and, from them, generates a list of top 10 challenges. This provides valuable input to initiating new research and innovation projects in the key, smart city domains (e.g., energy, mobility, built environment, governance and data).

The first xiphydriid wood wasp in Cretaceous amber (Hymenoptera: Xiphydriidae) and a potential association with Cycadales

A new genus and species of fossil wood wasp is described and figured from mid-Cretaceous Kachin amber, representing the first occurrence of the family Xiphydriidae in the fossil record. Paraxiphydria resinata gen. et sp. nov. exhibits typical apomorphies of the family including a generally cylindrical body, elongate neck and dome-shaped head. Nonetheless, owing to a unique combination of traits including features hitherto unknown among species of the family, the genus is classified within a separate subfamily, Paraxiphydriinae subfam. nov. A key is presented to the suprageneric groups of Xiphydriidae. The newly described species is the first fossil xiphydriid wood wasp, extends the occurrence of Xiphydriidae into the mid-Cretaceous and adds to the known diversity of features in the family. Lastly, the simplification of wing venation and hypotheses of host-plant affiliations of early xiphydriids are discussed. We evaluate pollen associated with the wasp, assign it to the genus Cycadopites and conclude that an affiliation to the Cycadales is most likely. Article and nomenclatural acts are registered in ZooBank (http://zoobank.org/, last access: 15 December 2021), with the following life science identifier (LSID) (reference): urn:lsid:zoobank.org:pub:DA80920E-E94B-4A8E-A817-077FA7BD7D69.

Analysis of the effects of aryl hydrocarbon receptor expression on cancer cell invasion via three-dimensional microfluidic invasion assays

We studied the effect of AHR expression on metastasis using cell invasion in digital microfluidic microgel systems (CIMMS), which provided a unique combination of functional discrimination with transcriptome profiling of sub-populations of cells.

IS A BIG OMENTUM THE SURGEON'S BEST FRIEND OR WORST ENEMY? REVIEW

The interest of surgeons in the greater omentum is associated with a unique combination of such functions as plasticity, immune defense, barrier, hormonal, angiogenesis and regeneration for adjacent tissues, reabsorption, hemostatic, thermoregulation. The purpose of this review was to track the historically changing position of operations with the use of the greater omentum in abdominal, thoracic surgery, reconstructive plastic surgery, analyze the aspects of the use and controversial issues of omentization of the anastomoses line and omentoplasty in modern conditions, as well as highlight promising directions for the use of the greater omentum in medicine. in the sources of domestic and foreign databases until July 2021. Information about the negative consequences of omentectomy is given – a decrease in local and general immunoresistance, the development of adhesive disease, an increase in the number of postoperative purulent-inflammatory complications. It is useful for the surgeon to use a large omentum in non-standard and technically difficult cases. Situations are described in which a radical attitude to the greater omentum is justified – torsion of the omentum strand, metastasis, adhesions, omentitis, entrapment in hernias, complications from the pedicle flap. Analysis of the literature revealed ambiguous results of omentization and omentoplasty, which indicates the need for randomized studies in this area, the development of clinical recommendations for these operations with a description of clear indications and methods of carrying out.

A new species of stone loach of the genus Mustura (Teleostei: Nemacheilidae) from Chindwin River drainage, Manipur, north-eastern India

Mustura taretensis, a new nemacheilid loach, is described from the Taret River, a tributary of the Yu River, Chindwin River drainage, Manipur, India. The new species is distinguished from all its congeners by a unique combination of the following characters: body with 12–13 irregular dark-brown blotches or bars on flank, alternating with 11–16 irregular dark-brown saddles on the back; dorsum of head with a distinctly visible rhomboid dark-brown mark encircling a pale oval area on the nape; dorsal fin with 9½­ or 10½ branched rays; lateral line complete; a well-developed free posterior chamber of air bladder, the halves of air bladder capsules connected by a manubrium; poorly developed processus dentiformis; suborbital flap present in males; and body depth 12.8–16.0 % SL. The generic status of Mustura chindwinensis, M. dikrongensis, M. tigrina and M. tuivaiensis are also discussed in the paper.

Hidden tribe: A new species of Stream Toad of the genus Ansonia Stoliczka, 1870 (Anura: Bufonidae) from the poorly explored mountainous borderlands of western Thailand

The integrated results of morphological and molecular phylogenetic analyses confirmed the new species status of a recently discovered population of Ansonia from Suan Phueng District, Ratchaburi Province, Thailand. Ansonia karensp. nov. is separated from all other species of Ansonia by a unique combination of mensural, discrete morphological, and color pattern characteristics and is the sister species of A. thinthinae from Tanintharyi Division, Myanmar. This discovery fills a geographic hiatus of 350 km between it and A. kraensis from Ranong Province, Thailand. Ansonia karensp. nov. is the newest member of a long list of range-restricted endemics having been recently discovered in the northern Tenasserim Mountain region of western Thailand and continues to underscore the unexplored nature of this region and its need for conservation.

Usefulness of a Health Education and Promotion Book Club to Teach About Race and Social Justice

Emphasizing the value of utilizing both facts and stories to teach and learn about health, race, and social justice, this reflection makes a case for using The Immortal Life of Henrietta Lacks and Well: What We Need to Talk About When We Talk About Health to create a dialogue with undergraduate health education students. The unique combination of facts and stories that the two books provide sparked conversations from which both my students and I were grateful to learn.

A review of chemical defense in harlequin toads (Bufonidae; Atelopus)

Toads of the genus Atelopus are chemically defended by a unique combination of endogenously synthesized cardiotoxins (bufadienolides) and what are likely exogenously sequestered neurotoxins (guanidinium alkaloids). Investigation into Atelopus small-molecule chemical defenses has been primarily concerned with identifying and characterizing various forms of these toxins while largely overlooking their ecological roles and evolutionary implications. In addition to describing the extent of knowledge about Atelopus toxin structures, pharmacology, and biological sources, we review the detection, identification, and quantification methods used in studies of Atelopus toxins to date and conclude that many known toxin profiles are unlikely to be comprehensive because of methodological and sampling limitations. Patterns in existing data suggest that both environmental (toxin availability) and genetic (capacity to synthesize or sequester toxins) factors influence toxin profiles. From an ecological and evolutionary perspective, we summarize the possible selective pressures acting on Atelopus toxicity and toxin profiles, including predation, intraspecies communication, disease, and reproductive status. Ultimately, we intend to provide a basis for future ecological, evolutionary, and biochemical research on Atelopus.