5,076 research outputs found
Counterexample Guided Inductive Optimization Applied to Mobile Robots Path Planning (Extended Version)
We describe and evaluate a novel optimization-based off-line path planning
algorithm for mobile robots based on the Counterexample-Guided Inductive
Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples
generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories
(SMT) solvers, in order to guide the optimization process and to ensure global
optimization. This paper marks the first application of CEGIO for planning
mobile robot path. In particular, CEGIO has been successfully applied to obtain
optimal two-dimensional paths for autonomous mobile robots using off-the-shelf
SAT and SMT solvers.Comment: 7 pages, 14rd Latin American Robotics Symposium (LARS'2017
Morphology of Fine-Particle Monolayers Deposited on Nanopatterned Substrates
We study the effect of the presence of a regular substrate pattern on the
irreversible adsorption of nanosized and colloid particles. Deposition of disks
of radius is considered, with the allowed regions for their center
attachment at the planar surface consisting of square cells arranged in a
square lattice pattern. We study the jammed state properties of a generalized
version of the random sequential adsorption model for different values of the
cell size, , and cell-cell separation, . The model shows a surprisingly
rich behavior in the space of the two dimensionless parameters
and . Extensive Monte Carlo simulations for system sizes of
square lattice unit cells were performed by utilizing an
efficient algorithm, to characterize the jammed state morphology.Comment: 11 pages, 10 figures, 3 table
Estimação de parâmetros genéticos da produção leiteira e idade ao primeiro parto de vacas Pardo-Suíças por meio de inferência bayesiana.
Estimou-se a herdabilidade e a correlação genética para a produção de leite na primeira lactação (PL) e idade ao primeiro parto (IPP) de animais da raça Pardo-Suíça. Foram utilizados registros de 2.981 lactações, com partos ocorridos entre os anos de 1980 a 2002. Na estimação dos componentes de (co) variâncias foi utilizada a inferência Bayesiana, por meio de amostrador de Gibbs, com tamanho de cadeia de 1.500.000 rounds e período de queima de 500.000 rounds. A frequência de amostragem foi de 500 rounds. As médias estimadas para produção de leite e idade ao primeiro parto foram iguais a 5.347,47±1.849,13 kg e 29,65±4,51 meses, respectivamente. As estimativas de herdabilidade obtidas para a produção de leite e idade ao primeiro parto foram iguais a 0,23 e 0,18, respectivamente. A correlação genética entre elas foi igual a -0,31. As herdabilidades obtidas para as características de desempenho avaliadas indicam que ganhos genéticos satisfatórios podem ser obtidos no melhoramento para essas características e que a seleção simultânea para ambas as características pode ser realizad
Collaboration networks from a large CV database: dynamics, topology and bonus impact
Understanding the dynamics of research production and collaboration may
reveal better strategies for scientific careers, academic institutions and
funding agencies. Here we propose the use of a large and multidisciplinar
database of scientific curricula in Brazil, namely, the Lattes Platform, to
study patterns of scientific production and collaboration. In this database,
detailed information about publications and researchers are made available by
themselves so that coauthorship is unambiguous and individuals can be evaluated
by scientific productivity, geographical location and field of expertise. Our
results show that the collaboration network is growing exponentially for the
last three decades, with a distribution of number of collaborators per
researcher that approaches a power-law as the network gets older. Moreover,
both the distributions of number of collaborators and production per researcher
obey power-law behaviors, regardless of the geographical location or field,
suggesting that the same universal mechanism might be responsible for network
growth and productivity.We also show that the collaboration network under
investigation displays a typical assortative mixing behavior, where teeming
researchers (i.e., with high degree) tend to collaborate with others alike.
Finally, our analysis reveals that the distinctive collaboration profile of
researchers awarded with governmental scholarships suggests a strong bonus
impact on their productivity.Comment: 8 pages, 8 figure
Random Sequential Adsorption: From Continuum to Lattice and Pre-Patterned Substrates
The random sequential adsorption (RSA) model has served as a paradigm for
diverse phenomena in physical chemistry, as well as in other areas such as
biology, ecology, and sociology. In the present work, we survey aspects of the
RSA model with emphasis on the approach to and properties of jammed states
obtained for large times in continuum deposition versus that on lattice
substrates, and on pre-patterned surfaces. The latter model has been of recent
interest in the context of efforts to use pre-patterning as a tool to improve
selfassembly in micro- and nanoscale surface structure engineering
Eigenvalue estimates for a class of elliptic differential operators in divergence form on Riemannian manifolds isometrically immersed in Euclidean space
In this paper, we obtain eigenvalue estimates for a larger class of elliptic
differential operators in divergence form on a bounded domain in a complete
Riemannian manifold isometrically immersed in Euclidean space. As an
application, we give eigenvalue estimates in the Gaussian shrinking soliton,
and we find a domain that makes the behavior of these estimates similar to the
estimates for the case of the Laplacian. Moreover, we also give an answer to
the generalized conjecture of P\'olya.Comment: 17 page
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