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  • 1
    Publication Date: 2019
    Description: Finding sources of airborne chemicals with mobile sensing systems finds applications across safety, security, environmental monitoring, and medical domains. In this paper, we present an algorithm based on Source Term Estimation for odor source localization that is coupled with a navigation method based on partially observable Markov decision processes. We propose a novel strategy to balance exploration and exploitation in navigation. Moreover, we study two variants of the algorithm, one exploiting a global and the other one a local framework. The method was evaluated through high-fidelity simulations and in a wind tunnel emulating a quasi-laminar air flow in a controlled environment, in particular by systematically investigating the impact of multiple algorithmic and environmental parameters (wind speed and source release rate) on the overall performance. The outcome of the experiments showed that the algorithm is robust to different environmental conditions in the global framework, but, in the local framework, it is only successful in relatively high wind speeds. In the local framework, on the other hand, the algorithm is less demanding in terms of energy consumption as it does not require any absolute positioning information from the environment and the robot travels less distance compared to the global framework.
    Electronic ISSN: 1424-8220
    Topics: Chemistry and Pharmacology , Electrical Engineering, Measurement and Control Technology
    Published by MDPI
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  • 2
    Publication Date: 2019
    Description: Environmental exposure to lead (Pb), mercury (Hg), arsenic (As), cadmium (Cd), manganese (Mn), and aluminum (Al) has been associated with neurodevelopmental disorders including autism spectrum disorder (ASD). We conducted a pilot study during May 2015–May 2107 to estimate blood concentrations of six metals (Pb, Hg, As, Cd, Mn, and Al) and identify their associated factors for children with ASD or suspected of having ASD in Romania. Sixty children, age 2–8 years, were administered versions of ADOS or ADI-R translated from English to Romanian. After assessment, 2–3 mL of blood was obtained and analyzed for the concentrations of the six metals. The mean age of children was 51.9 months and about 90% were male. More than half (65%) of the children were born in Bucharest. Over 90% of concentrations of As and Cd were below limits of detection. Geometric mean concentrations of Pb, Mn, Al, and Hg were 1.14 μg/dL, 10.84 μg/L, 14.44 μg/L, and 0.35 μg/L, respectively. Multivariable linear regression analysis revealed that children who were female, had less educated parents, exhibited pica, and ate cold breakfast (e.g., cereal), watermelon, and lamb had significantly higher concentrations of Pb compared to their respective referent categories (all p 〈 0.05 except for eating lamb, which was marginally significant, p = 0.053). Although this is the first study that provides data on concentrations of the six metals for Romanian children with ASD, the findings from this study could be useful for designing future epidemiologic studies for investigating the role of these six metals in ASD in Romanian children.
    Print ISSN: 1661-7827
    Electronic ISSN: 1660-4601
    Topics: Energy, Environment Protection, Nuclear Power Engineering , Medicine
    Published by MDPI
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