MINRbase: a comprehensive database of nuclear- and mitochondrial-ribosomal-RNA-derived fragments (rRFs).

We describe the Mitochondrial and Nuclear rRNA fragment database (MINRbase), a knowledge repository aimed at facilitating the study of ribosomal RNA-derived fragments (rRFs). MINRbase provides interactive access to the profiles of 130 238 expressed rRFs arising from the four human nuclear rRNAs (18S, 5.8S, 28S, 5S), two mitochondrial rRNAs (12S, 16S) or four spacers of 45S pre-rRNA. We compiled these profiles by analyzing 11 632 datasets, including the GEUVADIS and The Cancer Genome Atlas (TCGA) repositories. MINRbase offers a user-friendly interface that lets researchers issue complex queries based on one or more criteria, such as parental rRNA identity, nucleotide sequence, rRF minimum abundance and metadata keywords (e.g. tissue type, disease). A 'summary' page for each rRF provides a granular breakdown of its expression by tissue type, disease, sex, ancestry and other variables; it also allows users to create publication-ready plots at the click of a button. MINRbase has already allowed us to generate support for three novel observations: the internal spacers of 45S are prolific producers of abundant rRFs; many abundant rRFs straddle the known boundaries of rRNAs; rRF production is regimented and depends on 'personal attributes' (sex, ancestry) and 'context' (tissue type, tissue state, disease). MINRbase is available at https://cm.jefferson.edu/MINRbase/.

Robot Navigation in Complex Workspaces Employing Harmonic Maps and Adaptive Artificial Potential Fields.

In this work, we address the single robot navigation problem within a planar and arbitrarily connected workspace. In particular, we present an algorithm that transforms any static, compact, planar workspace of arbitrary connectedness and shape to a disk, where the navigation problem can be easily solved. Our solution benefits from the fact that it only requires a fine representation of the workspace boundary (i.e., a set of points), which is easily obtained in practice via SLAM. The proposed transformation, combined with a workspace decomposition strategy that reduces the computational complexity, has been exhaustively tested and has shown excellent performance in complex workspaces. A motion control scheme is also provided for the class of non-holonomic robots with unicycle kinematics, which are commonly used in most industrial applications. Moreover, the tuning of the underlying control parameters is rather straightforward as it affects only the shape of the resulted trajectories and not the critical specifications of collision avoidance and convergence to the goal position. Finally, we validate the efficacy of the proposed navigation strategy via extensive simulations and experimental studies.

Navigation of Multiple Disk-Shaped Robots with Independent Goals within Obstacle-Cluttered Environments.

In this work, we propose a hybrid control scheme to address the navigation problem for a team of disk-shaped robotic platforms operating within an obstacle-cluttered planar workspace. Given an initial and a desired configuration of the system, we devise a hierarchical cell decomposition methodology which is able to determine which regions of the configuration space need to be further subdivided at each iteration, thus avoiding redundant cell expansions. Furthermore, given a sequence of free configuration space cells with an arbitrary connectedness and shape, we employ harmonic transformations and harmonic potential fields to accomplish safe transitions between adjacent cells, thus ensuring almost-global convergence to the desired configuration. Finally, we present the comparative simulation results that demonstrate the efficacy of the proposed control scheme and its superiority in terms of complexity while yielding a satisfactory performance without incorporating optimization in the selection of the paths.