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Automated storage and retrieval systems are principal components of modern production and warehouse facilities. In particular, automated guided vehicles nowadays substitute human-operated pallet trucks in transporting production materials between storage locations and assembly stations. While low-level control systems take care of navigating such driverless vehicles along programmed routes and avoid collisions even under unforeseen circumstances, in the common case of multiple vehicles sharing the same operation area, the problem remains how to set up routes such that a collection of transport tasks is accomplished most effectively. We address this prevalent problem in the context of car assembly at Mercedes-Benz Ludwigsfelde GmbH, a large-scale producer of commercial vehicles, where routes for automated guided vehicles used in the production process have traditionally been hand-coded by human engineers. Such adhoc methods may suffice as long as a running production process remains in place, while any change in the factory layout or production targets necessitates tedious manual reconfiguration, not to mention the missing portability between different production plants. Unlike this, we propose a declarative approach based on Answer Set Programming to optimize the routes taken by automated guided vehicles for accomplishing transport tasks. The advantages include a transparent and executable problem formalization, provable optimality of routes relative to objective criteria, as well as elaboration tolerance towards particular factory layouts and production targets. Moreover, we demonstrate that our approach is efficient enough to deal with the transport tasks evolving in realistic production processes at the car factory of Mercedes-Benz Ludwigsfelde GmbH.
We introduce the asprilo1 framework to facilitate experimental studies of approaches addressing complex dynamic applications. For this purpose, we have chosen the domain of robotic intra-logistics. This domain is not only highly relevant in the context of today's fourth industrial revolution but it moreover combines a multitude of challenging issues within a single uniform framework. This includes multi-agent planning, reasoning about action, change, resources, strategies, etc. In return, asprilo allows users to study alternative solutions as regards effectiveness and scalability. Although asprilo relies on Answer Set Programming and Python, it is readily usable by any system complying with its fact-oriented interface format. This makes it attractive for benchmarking and teaching well beyond logic programming. More precisely, asprilo consists of a versatile benchmark generator, solution checker and visualizer as well as a bunch of reference encodings featuring various ASP techniques. Importantly, the visualizer's animation capabilities are indispensable for complex scenarios like intra-logistics in order to inspect valid as well as invalid solution candidates. Also, it allows for graphically editing benchmark layouts that can be used as a basis for generating benchmark suites.
teaspoon
(2018)
Answer Set Programming (ASP) is an approach to declarative problem solving, combining a rich yet simple modeling language with high performance solving capacities. We here develop an ASP-based approach to curriculum-based course timetabling (CB-CTT), one of the most widely studied course timetabling problems. The resulting teaspoon system reads a CB-CTT instance of a standard input format and converts it into a set of ASP facts. In turn, these facts are combined with a first-order encoding for CB-CTT solving, which can subsequently be solved by any off-the-shelf ASP systems. We establish the competitiveness of our approach by empirically contrasting it to the best known bounds obtained so far via dedicated implementations. Furthermore, we extend the teaspoon system to multi-objective course timetabling and consider minimal perturbation problems.
Leaf senescence is an essential physiological process in plants that supports the recycling of nitrogen and other nutrients to support the growth of developing organs, including young leaves, seeds, and fruits. Thus, the regulation of senescence is crucial for evolutionary success in wild populations and for increasing yield in crops. Here, we describe the influence of a NAC transcription factor, SlNAP2 (Solanum lycopersicum NAC-like, activated by Apetala3/Pistillata), that controls both leaf senescence and fruit yield in tomato (S. lycopersicum). SlNAP2 expression increases during age-dependent and dark-induced leaf senescence. We demonstrate that SlNAP2 activates SlSAG113 (S. lycopersicum SENESCENCE-ASSOCIATED GENE113), a homolog of Arabidopsis (Arabidopsis thaliana) SAG113, chlorophyll degradation genes such as SlSGR1 (S. lycopersicum senescence-inducible chloroplast stay-green protein 1) and SlPAO (S. lycopersicum pheide a oxygenase), and other downstream targets by directly binding to their promoters, thereby promoting leaf senescence. Furthermore, SlNAP2 directly controls the expression of genes important for abscisic acid (ABA) biosynthesis, S. lycopersicum 9-cis-epoxycarotenoid dioxygenase 1 (SlNCED1); transport, S. lycopersicum ABC transporter G family member 40 (SlABCG40); and degradation, S. lycopersicum ABA 8′-hydroxylase (SlCYP707A2), indicating that SlNAP2 has a complex role in establishing ABA homeostasis during leaf senescence. Inhibiting SlNAP2 expression in transgenic tomato plants impedes leaf senescence but enhances fruit yield and sugar content likely due to prolonged leaf photosynthesis in aging tomato plants. Our data indicate that SlNAP2 has a central role in controlling leaf senescence and fruit yield in tomato.
Leaf senescence is a key process in plants that culminates in the degradation of cellular constituents and massive reprogramming of metabolism for the recovery of nutrients from aged leaves for their reuse in newly developing sinks. We used molecular-biological and metabolomics approaches to identify NAC transcription factor (TF) RD26 as an important regulator of metabolic reprogramming in Arabidopsis thaliana. RD26 directly activates CHLOROPLAST VESICULATION (CV), encoding a protein crucial for chloroplast protein degradation, concomitant with an enhanced protein loss in RD26 over-expressors during senescence, but a reduced decline of protein in rd26 knockout mutants. RD26 also directly activates LKR/SDH involved in lysine catabolism, and PES1 important for phytol degradation. Metabolic profiling revealed reduced c-aminobutyric acid (GABA) in RD26 overexpressors, accompanied by the induction of respective catabolic genes. Degradation of lysine, phytol and GABA is instrumental for maintaining mitochondrial respiration in carbon-limiting conditions during senescence. RD26 also supports the degradation of starch and the accumulation of mono-and disaccharides during senescence by directly enhancing the expression of AMY1, SFP1 and SWEET15 involved in carbohydrate metabolism and transport. Collectively, during senescence RD26 acts by controlling the expression of genes across the entire spectrum of the cellular degradation hierarchy.
Retail banking has undergone a massive transformation in the last few years. A major aspect is changing consumer behavior. The aim of the paper is to better understand retail banking consumers regarding the impact of digitalization. Consequently, we acquired online consumer review data from Germany, the UK and US. We analyzed the data using coding techniques of grounded theory, supported by interdisciplinary literature to identify and categorize the relevant influence factors. The outcome of the paper is an integrated model of consumer decision-making in today’s retail banking along with four detailed partial models of the respective decision stages.
Leaf senescence is an essential developmental process that involves diverse metabolic changes associated with degradation of macromolecules allowing nutrient recycling and remobilization. In contrast to the significant progress in transcriptomic analysis of leaf senescence, metabolomics analyses have been relatively limited. A broad overview of metabolic changes during leaf senescence including the interactions between various metabolic pathways is required to gain a better understanding of the leaf senescence allowing to link transcriptomics with metabolomics and physiology. In this chapter, we describe how to obtain comprehensive metabolite profiles and how to dissect metabolic shifts during leaf senescence in the model plant Arabidopsis thaliana. Unlike nucleic acid analysis for transcriptomics, a comprehensive metabolite profile can only be achieved by combining a suite of analytic tools. Here, information is provided for measurements of the contents of chlorophyll, soluble proteins, and starch by spectrophotometric methods, ions by ion chromatography, thiols and amino acids by HPLC, primary metabolites by GC/TOF-MS, and secondary metabolites and lipophilic metabolites by LC/ESI-MS. These metabolite profiles provide a rich catalogue of metabolic changes during leaf senescence, which is a helpful database and blueprint to be correlated to future studies such as transcriptome and proteome analyses, forward and reverse genetic studies, or stress-induced senescence studies.
The Potsdam answer set solving collection, or Potassco for short, bundles various tools implementing and/or applying answer set programming. The article at hand succeeds an earlier description of the Potassco project published in Gebser et al. (AI Commun 24(2):107-124, 2011). Hence, we concentrate in what follows on the major features of the most recent, fifth generation of the ASP system clingo and highlight some recent resulting application systems.
The aim of our project design space exploration with answer set programming is to develop a general framework based on Answer Set Programming (ASP) that finds valid solutions to the system design problem and simultaneously performs Design Space Exploration (DSE) to find the most favorable alternatives. We leverage recent developments in ASP solving that allow for tight integration of background theories to create a holistic framework for effective DSE.
The desiccation-tolerant plant Haberlea rhodopensis can withstand months of darkness without any visible senescence. Here, we investigated the molecular mechanisms of this adaptation to prolonged (30 d) darkness and subsequent return to light. H. rhodopensis plants remained green and viable throughout the dark treatment. Transcriptomic analysis revealed that darkness regulated several transcription factor (TF) genes. Stress-and autophagy-related TFs such as ERF8, HSFA2b, RD26, TGA1, and WRKY33 were up-regulated, while chloroplast-and flowering-related TFs such as ATH1, COL2, COL4, RL1, and PTAC7 were repressed. PHYTOCHROME INTERACTING FACTOR4, a negative regulator of photomorphogenesis and promoter of senescence, also was down-regulated. In response to darkness, most of the photosynthesis-and photorespiratory-related genes were strongly down-regulated, while genes related to autophagy were up-regulated. This occurred concomitant with the induction of SUCROSE NON-FERMENTING1-RELATED PROTEIN KINASES (SnRK1) signaling pathway genes, which regulate responses to stress-induced starvation and autophagy. Most of the genes associated with chlorophyll catabolism, which are induced by darkness in dark-senescing species, were either unregulated (PHEOPHORBIDE A OXYGENASE, PAO; RED CHLOROPHYLL CATABOLITE REDUCTASE, RCCR) or repressed (STAY GREEN-LIKE, PHEOPHYTINASE, and NON-YELLOW COLORING1). Metabolite profiling revealed increases in the levels of many amino acids in darkness, suggesting increased protein degradation. In darkness, levels of the chloroplastic lipids digalactosyldiacylglycerol, monogalactosyldiacylglycerol, phosphatidylglycerol, and sulfoquinovosyldiacylglycerol decreased, while those of storage triacylglycerols increased, suggesting degradation of chloroplast membrane lipids and their conversion to triacylglycerols for use as energy and carbon sources. Collectively, these data show a coordinated response to darkness, including repression of photosynthetic, photorespiratory, flowering, and chlorophyll catabolic genes, induction of autophagy and SnRK1 pathways, and metabolic reconfigurations that enable survival under prolonged darkness.
Unipolar, axisymmetric sunspots are figuratively called “theoretician's sunspots” because their simplicity supposedly makes them more suitable for theoretical descriptions or numerical models. On November 18, 2013, a very large specimen (active region NOAA 11899) crossed the central meridian of the sun. The moat flow associated with this very large spot is quantitatively compared to that of a medium and a small sunspot to determine the extent of the moat flow in different environments. We employ continuum images and magnetograms of the Helioseismic and Magnetic Imager (HMI) as well as extreme ultraviolet (EUV) images at λ160 nm of the Atmospheric Imaging Assembly (AIA), both on board the Solar Dynamics Observatory (SDO), to measure horizontal proper motions with Local Correlation Tracking (LCT) and flux transport velocities with the Differential Affine Velocity Estimator (DAVE). We compute time-averaged flow maps (±6 hr around meridian passage) and radial averages of photometric, magnetic, and flow properties. Flow fields of a small- and a medium-sized axisymmetric sunspot provide the context for interpreting the results. All sunspots show outward moat flow and the advection of moving magnetic features (MMFs). However, the extent of the moat flow varies from spot to spot, and a correlation of flow properties with size is tenuous, if at all present. The moat flow is asymmetric and predominantly in the east–west direction, whereby deviations are related to the tilt angle of the sunspot group as well as to the topology and activity level of the trailing plage.
The Northeast German Lowland Observatory (TERENO-NE) was established to investigate the regional impact of climate and land use change. TERENO-NE focuses on the Northeast German lowlands, for which a high vulnerability has been determined due to increasing temperatures and decreasing amounts of precipitation projected for the coming decades. To facilitate in-depth evaluations of the effects of climate and land use changes and to separate the effects of natural and anthropogenic drivers in the region, six sites were chosen for comprehensive monitoring. In addition, at selected sites, geoarchives were used to substantially extend the instrumental records back in time. It is this combination of diverse disciplines working across different time scales that makes the observatory TERENO-NE a unique observation platform. We provide information about the general characteristics of the observatory and its six monitoring sites and present examples of interdisciplinary research activities at some of these sites. We also illustrate how monitoring improves process understanding, how remote sensing techniques are fine-tuned by the most comprehensive ground-truthing site DEMMIN, how soil erosion dynamics have evolved, how greenhouse gas monitoring of rewetted peatlands can reveal unexpected mechanisms, and how proxy data provides a long-term perspective of current ongoing changes.
Silicon is a beneficial element for many plants and is deposited in plant tissue as amorphous bio-opal called phytoliths. The biochemical processes of silicon uptake and precipitation induce isotope fractionation: the mass-dependent shift in the relative abundances of the stable isotopes of silicon. At the bulk scale, delta Si-30 ratios span from -2 to +6 parts per thousand. To further constrain these variations in situ, at the scale of individual phytolith fragments, we used femtosecond laser ablation multi-collector inductively coupled plasma-mass spectrometry (fsLA-MC-ICP-MS). A variety of phytoliths from grasses, trees and ferns were prepared from plant tissue or extracted from soil. Good agreement between phytolith delta Si-30 ratios obtained by bulk solution MC-ICP-MS analysis and in situ isotope ratios from fsLA-MC-ICP-MS validates the method. Bulk solution analyses result in at least twofold better precision for delta Si-30 (2s on reference materials <= 0.11 parts per thousand) over that found for the means of in situ analyses (2s typically <= 0.24 parts per thousand). We find that bushgrass, common reed and horsetail show large internal variations up to 2 parts per thousand in delta Si-30, reflecting the various pathways of silicon from soil to deposition. Femtosecond laser ablation provides a means to identify the underlying processes involved in the formation of phytoliths using silicon isotope ratios.
The dataset in the present article provides information on protozoic silicon (Si) pools represented by euglyphid testate amoebae (TA) in soils of initial and forested biogeosystems. Protozoic Si pools were calculated from densities of euglyphid TA shells and corresponding Si contents. The article also includes data on potential annual biosilicification rates of euglyphid TA at the examined sites. Furthermore, data on selected soil parameters (e.g., readily-available Si, soil pH) and site characteristics (e.g., soil groups, climate data) can be found. The data might be interesting for researchers focusing on biological processes in Si cycling in general and euglyphid TA and corresponding protozoic Si pools in particular.
Agricultural soil landscapes of hummocky ground moraines are characterized by 3D spatial patterns of soil types that result from profile modifications due to the combined effect of water and tillage erosion. We hypothesize that crops reflect such soil landscape patterns by increased or reduced plant and root growth. Root development may depend on the thickness and vertical sequence of soil horizons as well as on the structural development state of these horizons at different landscape positions. The hypotheses were tested using field data of the root density (RD) and the root lengths (RL) of winter wheat using the minirhizotron technique. We compared data from plots at the CarboZALF-D site (NE Germany) that are representing a non-eroded reference soil profile (Albic Luvisol) at a plateau position, a strongly eroded profile at steep slope (Calcaric Regosol), and a depositional profile at the footslope (Anocolluvic Regosol). At each of these plots, three Plexiglas access tubes were installed down to approx. 1.5 m soil depth. Root measurements were carried out during the growing season of winter wheat (September 2014-August 2015) on six dates. The root length density (RLD) and the root biomass density were derived from RD values assuming a mean specific root length of 100 m g(-1). Values of RD and RLD were highest for the Anocolluvic Regosol and lowest for the Calcaric Regosol. The maximum root penetration depth was lower in the Anocolluvic Regosol because of a relatively high and fluctuating water table at this landscape position. Results revealed positive relations between below-ground (root) and above-ground crop parameters (i.e., leaf area index, plant height, biomass, and yield) for the three soil types. Observed root densities and root lengths in soils at the three landscape positions corroborated the hypothesis that the root system was reflecting erosion-induced soil profile modifications. Soil landscape position dependent root growth should be considered when attempting to quantify landscape scale water and element balances as well as agricultural productivity.
For bare soil conditions, the most important process driving and initiating splash and interrill erosion is the detachment of soil particles via raindrop impact. The kinetic energy of a rainfall event is controlled by the drop size and fall velocity distribution, which is often directly or indirectly implemented in erosion models. Therefore, numerous theoretical functions have been developed for the estimation of rainfall kinetic energy from available rainfall intensity measurements. The aim of this study is to assess differences inherent in a wide number of kinetic energy-rainfall intensity (KE-I) relations and their role in soil erosion modelling. Therefore, 32 KE-I relations are compared against measured rainfall energies based on optical distrometer measurements carried out at five stations of two substantially different rainfall regimes. These allow for continuous high-resolution (1-min) direct measurements of rainfall kinetic energies from a detailed spectrum of measured drop sizes and corresponding fall velocities. To quantify the effect of different KE-I relations on sediment delivery, we apply the erosion model WATEM/SEDEM in an experimental setup to four catchments of NE-Germany. The distrometer data shows substantial differences between measured and theoretical models of drop size and fall velocity distributions. For low intensities the number of small drops is overestimated by the Marshall and Palmer (1948; MP) drop size distribution, while for high intensities the proportion of large drops is overestimated by the MP distribution. The distrometer measurements show a considerable proportion of large drops falling at slower velocities than predicted by the Gunn and Kinzer (1949) terminal velocity model. For almost all rainfall events at all stations, the KE-I relations predicted higher cumulative kinetic energy sums compared to the direct measurements of the optical distrometers. The different KE-I relations show individual characteristics over the course of rainfall intensity levels. Our results indicate a high sensitivity (up to a range from 10 to 27 t ha(-1)) of the simulated sediment delivery related to different KE-I relations. Hence, the uncertainty associated with KE-I relations for soil erosion modelling is of critical importance.
Subsurface lateral flow in hillslope soils depends on lower permeability or texture-contrasting soil horizons. In the arable hummocky soil landscape, erosion processes caused glacial till appearance closer to the soil surface at upslope positions. The objective of this work was to quantify the potential for subsurface lateral flow depending on the erosion-affected spatial hydropedological complexity. The eroded Haplic Luvisol profile was studied due to the presence of a relatively dense C horizon that varied in depth, thickness, and sloping angle. A two-dimensional numerical modeling and sensitivity analysis for the saturated hydraulic conductivity (K-s) of the C horizon and the depth to C horizon (i.e., soil solum thickness) was performed for rainstorms in 2011 and 2012 using HYDRUS-2D. A K-s value of <2.5 cm d(-1) for the C horizon was required for lateral flow initiation. Lateral flow was (i) increasing with decreasing solum thickness, indicating an erosion-induced feedback on subsurface lateral flow, and (ii) dependent on the soil moisture regime prior to rainstorms. The effect of lateral flow on the movement of a conservative tracer was simulated in the form of a "virtual experiment". Simulation scenarios revealed only a relatively small lateral shift of the tracer plume caused by a local decoupling of water (already lateral) from subsequent tracer movement (still vertical). Longer term simulations suggested that, for the present conditions, lateral flow was limited mostly to occasional summer storm events. Even without considering preferential flow contribution to lateral flow, highly complex hydropedologic interactions are present in erosion-affected heterogeneous soil profiles.
The landscape of the semiarid Pampa in central Argentina is characterized by late Pleistocene aeolian deposits, covering large plains with sporadic dune structures. Since the current land use changed from extensive livestock production within the Caldenal forest ecosystem to arable land, the wind erosion risk increased distinctly. We measured wind erosion and deposition patterns at the plot scale and investigated the spatial variability of the erosion processes. The wind-induced mass-transport was measured with 18 Modified Wilson and Cooke samplers (MWAC), installed on a 1.44 ha large field in a 20 x 40 m grid. Physical and chemical soil properties from the upper soil as well as a digital elevation model were recorded in a 20 x 20 m grid. In a 5-month measuring campaign data from seven storms with three different wind directions was obtained. Results show very heterogeneous patterns of erosion and deposition for each storm and indicate favoured erosion on windward and deposits on leeward terrain positions. Furthermore, a multiple regression model was build, explaining up to 70% of the spatial variance of erosion by just using four predictors: topsoil thickness, relative elevation, soil organic carbon content and slope direction. Our findings suggest a structure-process-structure complex where the landscape structure determines the effects of recent wind erosion processes which again slowly influence the structure, leading to a gradual increase of soil heterogeneity.
The ability of water to transport and transform soil materials is one of the main drivers of soil and landscape development. In turn, soil and landscape properties determine how water is distributed in soil landscapes. Understanding the complex dynamics of this co-evolution of soils, landscapes and the hydrological system is fundamental in adapting land management to changes in climate. Soil-Landscape Evolution Models (SLEMs) are used to simulate the development and evolution of soils and landscapes. However, many hydrologic processes, such as preferential flow and subsurface lateral flow, are currently absent in these models. This limits the applicability of SLEMs to improve our understanding of feedbacks in the hydro-pedo-geomorphological system. Implementation of these hydrologic processes in SLEMs faces several complications related to calculation demands, limited methods for linking pedogenic and hydrologic processes, and limited data on quantification of changes in the hydrological system over time. In this contribution, we first briefly review processes and feedbacks in soil-landscape-hydrological systems. Next, we elaborate on the development required to include these processes in SLEMs. We discuss the state-of-the-art knowledge, identify complications, give partial solutions and suggest important future development. The main requirements for incorporating hydrologic processes in SLEMs are: (1) designing a model framework that can deal with varying timescales for different sets of processes, (2) developing and implementing methods for simulating pedogenesis as a function of water flow, (3) improving and implementing knowledge on the evolution and dynamics of soil hydraulic properties over different timescales, and (4) improving the database on temporal changes and dynamics of flow paths.