UWB-Based Self-Localization Strategies: A Novel ICP-Based Method and a Comparative Assessment for Noisy-Ranges-Prone Environments

Ultra-Wide-Band (UWB) positioning systems are now a real option to estimate the position of generic agents (e.g., robots) within indoor/GPS-denied environments. However, these environments can comprise metallic structures or other elements which can negatively affect the signal transmission and hence the accuracy of UWB-based position estimations. Regarding this fact, this paper proposes a novel method based on point-to-sphere ICP (Iterative Closest Point) to determine the 3D position of a UWB tag. In order to improve the results in noise-prone environments, our method first selects the anchors’ subset which provides the position estimate with least uncertainty (i.e., largest agreement) in our approach. Furthermore, we propose a previous stage to filter the anchor-tag distances used as input of the ICP stage. We also consider the addition of a final step based on non-linear Kalman Filtering to improve the position estimates. Performance results for several configurations of our approach are reported in the experimental results section, including a comparison with the performance of other position-estimation algorithms based on trilateration. The experimental evaluation under laboratory conditions and inside the cargo hold of a vessel (i.e., a noise-prone scenario) proves the good performance of the ICP-based algorithm, as well as the effects induced by the prior and posterior filtering stages.

Collaboration Among Agents of a Human System to Create Distributed Value

Purpose: This article presents a model that the author calls the Collaborative Enterprise (CE). It serves as a general framework for thinking about all collaborations. Distinguishing feature: The CE focuses first on the purpose of a collaboration, and it then turns to participants, resources and capabilities, and processes. It illustrates the relevance of the model with three mini-case studies. Model type: The model is developed via schematic diagrams and narrative explanation. Model components: The CE posits four generic agents that collectively leverage resources and capabilities as they engage in a structured series of processes. Model attributes: The CE illustrates combinations of self-organization and hierarchy among agent types and emphasizes key processes in a collaboration. Literature: Literature from business strategy; organizational theory; and basic systems theory, including complex adaptive systems, inform the CE. Key insights: The purpose of the CE is to create distributed value by launching initiatives in functional arenas to shape the determinants of high-level goals. Implications: Success in creating distributed value is possible but challenging.

Referential and pragmatic-discourse properties of Lithuanian reference impersonals: 2sg-imp, 3-imp and ma/ta-imp

In this paper I describe the semantics, pragmatics and the discourse functions of three Lithuanian agent-defocusing constructions, featuring the non-referential use of second person singular/third person verbal forms and the non-agreeing participial forms in ma/ta. These three constructions can all be defined as impersonal, in the broader sense of the word, as the agent (or the main participant, whatever its semantic role may be) is constructed as non-referential: I label them 2sg-imp, 3-imp and ma/ta-imp. My corpus consists of original Lithuanian texts (a short story and entries on an Internet forum) and of the Lithuanian translations of Antoine de Saint-Exupéry’s novella Le Petit Prince and J.K. Rowling’s Harry Potter and the Philosopher’s Stone. My analysis shows that 2sg-imp are preferably used to express generic agents (anyone) and 3-imp are preferably used to express referential indefinite agents (someone). while ma/ta-imp are referentially flexible. 2sg-imp are pragmatically marked in that they are used to express empathy between the speaker and the pool of potential referents; they are mostly used in specific discourse types, such as opinion statements and life drama situations. 3-imp are preferred in situations where the indefiniteness of the agent is relevant to the development of the narrative; ma/ta-imp are instead preferred when the agent is irrelevant, and the focus is on the event itself. The behavior of Lithuanian 2sg-imp, 3-imp and ma/ta-imp is consistent with the one already described for similar constructions in other European languages.

Science of Biosimilars

Biosimilar therapeutic proteins in oncology offer the potential to decrease costs while providing safety and efficacy profiles consistent with their respective reference or originator products. Biosimilars have a number of important differences from generic small-molecule drugs, including manufacturing processes that are unique from their reference products. These differences may affect biosimilars through posttranslational modifications that can occur in specific cellular production lines, and these modifications have potential effects on protein structure, function, clinical pharmacology, and immunogenicity. Regulatory agencies expect these differences to be identified, analyzed, and minimized through iterative processes and extensive preclinical efforts. Generic naming of biosimilars reflects the nonproprietary reference product name along with a meaningless four-letter suffix to ensure that each product can be uniquely identified for prescribing and pharmacovigilance purposes. Labeling information for biosimilars reflects a greater detail of comparisons to reference products than conventional generic drugs, which ensures that prescribers can understand the source of information and have a complete understanding of the therapeutic profile of each biosimilar agent. Postmarketing surveillance programs will be required to evolve and ensure optimal pharmacovigilance reporting, because the potential for unexpected adverse events with biosimilars is higher than with conventional generic agents as a result of different manufacturing processes and different clinical trial designs and durations. The existing filgrastim biosimilars are likely to be joined soon by therapeutic monoclonal antibodies, including rituximab, trastuzumab, and bevacizumab, on the basis of patent expiration dates and clinical trial results.

Strategic orientations and cooperation of external agents in the innovation process of rural enterprises

ABSTRACT: This article provides empirical evidence for the relationship between the market orientation, entrepreneurial orientation, and collaboration of external actors in the processes of incremental and radical innovations in rural enterprises. The research tested two sets of assumptions: first, the relation between contributions of strategic orientation and innovation processes; and second, collaborations of external stakeholders in the implementation of innovation processes. Data were collected from 208 rural enterprises and analyzed with the use of techniques of partial least squares structural equation modeling. Results showed that the market orientation contributes to the development of incremental innovation, and that the entrepreneurial orientation contributes to the implementation of the incremental and radical innovations. Specific agents (buyers, suppliers of goods and services, consultants, and others producers), collaborate positively in implementing incremental innovation; however, generic agents do not. The generic agents (universities and specialized public organizations) are the ones that most intervene in radical innovations. The use of consistent theory in the areas of strategy, marketing and management in identifying that some of their causal relationships are confirmed for rural businesses unlike others, due to the structure of the market and the products produced by them.