A randomized kinodynamic planner for closed-chain robotic systems

Kinodynamic RRT planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, cooperating arms manipulating an object, or legged robots keeping their feet in contact with the environ- ment. The state space of such systems is an implicitly-defined manifold, which complicates the design of the sampling and steering procedures, and leads to trajectories that drift away from the manifold when standard integration methods are used. To address these issues, this report presents a kinodynamic RRT planner that constructs an atlas of the state space incrementally, and uses this atlas to both generate ran- dom states, and to dynamically steer the system towards such states. The steering method is based on computing linear quadratic regulators from the atlas charts, which greatly increases the planner efficiency in comparison to the standard method that simulates random actions. The atlas also allows the integration of the equations of motion as a differential equation on the state space manifold, which eliminates any drift from such manifold and thus results in accurate trajectories. To the best of our knowledge, this is the first kinodynamic planner that explicitly takes closed kinematic chains into account. We illustrate the performance of the approach in significantly complex tasks, including planar and spatial robots that have to lift or throw a load at a given velocity using torque-limited actuators.Peer ReviewedPreprin

Advances in procedural techniques--antegrade.

There have been many technological advances in antegrade CTO PCI, but perhaps most importantly has been the evolution of the "hybrid' approach where ideally there exists a seamless interplay of antegrade wiring, antegrade dissection re-entry and retrograde approaches as dictated by procedural factors. Antegrade wire escalation with intimal tracking remains the preferred initial strategy in short CTOs without proximal cap ambiguity. More complex CTOs, however, usually require either a retrograde or an antegrade dissection re-entry approach, or both. Antegrade dissection re-entry is well suited to long occlusions where there is a healthy distal vessel and limited "interventional" collaterals. Early use of a dissection re-entry strategy will increase success rates, reduce complications, and minimise radiation exposure, contrast use as well as procedural times. Antegrade dissection can be achieved with a knuckle wire technique or the CrossBoss catheter whilst re-entry will be achieved in the most reproducible and reliable fashion by the Stingray balloon/wire. It should be avoided where there is potential for loss of large side branches. It remains to be seen whether use of newer dissection re-entry strategies will be associated with lower restenosis rates compared with the more uncontrolled subintimal tracking strategies such as STAR and whether stent insertion in the subintimal space is associated with higher rates of late stent malapposition and stent thrombosis. It is to be hoped that the algorithms, which have been developed to guide CTO operators, allow for a better transfer of knowledge and skills to increase uptake and acceptance of CTO PCI as a whole

Archimedean-type force in a cosmic dark fluid: II. Qualitative and numerical study of a multistage Universe expansion

In this (second) part of the work we present the results of numerical and qualitative analysis, based on a new model of the Archimedean-type interaction between dark matter and dark energy. The Archimedean-type force is linear in the four-gradient of the dark energy pressure and plays a role of self-regulator of the energy redistribution in a cosmic dark fluid. Because of the Archimedean-type interaction the cosmological evolution is shown to have a multistage character. Depending on the choice of the values of the model guiding parameters,the Universe's expansion is shown to be perpetually accelerated, periodic or quasiperiodic with finite number of deceleration/acceleration epochs. We distinguished the models, which can be definitely characterized by the inflation in the early Universe, by the late-time accelerated expansion and nonsingular behavior in intermediate epochs, and classified them with respect to a number of transition points. Transition points appear, when the acceleration parameter changes the sign, providing the natural partition of the Universe's history into epochs of accelerated and decelerated expansion. The strategy and results of numerical calculations are advocated by the qualitative analysis of the instantaneous phase portraits of the dynamic system associated with the key equation for the dark energy pressure evolution.Comment: 15 pages, 12 figures, Part II, typos corrected, Fig.4 replaced, references correcte