Resolving Malpractice Disputes: Imaging the Jury’s Shadow

The ability of juries to resolve malpractice suits was studied. Results showed that most of the time, jury outcomes represent a fair resolution of the claim, but the risk that the result will not be fair is real and troubling

Combining Homotopy Methods and Numerical Optimal Control to Solve Motion Planning Problems

This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal control tools to problem classes where these tools have previously not been applicable. Today these problems are typically solved using motion planners based on randomized or graph search. The general principle is to define a homotopy that perturbs, or preferably relaxes, the original problem to an easily solved problem. By combining a Sequential Quadratic Programming (SQP) method with a homotopy approach that gradually transforms the problem from a relaxed one to the original one, practically relevant locally optimal solutions to the motion planning problem can be computed. The approach is demonstrated in motion planning problems in challenging 2D and 3D environments, where the presented method significantly outperforms a state-of-the-art open-source optimizing sampled-based planner commonly used as benchmark

An Optimization-Based Receding Horizon Trajectory Planning Algorithm

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning algorithm in a first step to efficiently find a feasible, but possibly suboptimal, nominal solution to the trajectory planning problem where in particular the combinatorial aspects of the problem are solved. The resulting nominal trajectory is then improved in a second optimization-based receding horizon planning step which performs local trajectory refinement over a sliding time window. In the second step, the nominal trajectory is used in a novel way to both represent a terminal manifold and obtain an upper bound on the cost-to-go online. This enables the possibility to provide theoretical guarantees in terms of recursive feasibility, objective function value, and convergence to the desired terminal state. The established theoretical guarantees and the performance of the proposed algorithm are verified in a set of challenging trajectory planning scenarios for a truck and trailer system.Comment: Submitted for IFAC World Congress 202

Hyaluronan Derivatives and Injectable Gels for Tissue Engineering

The present work describes the preparation of hyaluronan derivatives and hydrogels with potential use in tissue engineering applications. A potentially injectable hydrogel consisting of hyaluronan and collagen was successfully used to grow neurons in vitro by encapsulation of neural stem and progenitor cells. Attempts were further made to establish a suitable modification strategy which could be used for the preparation of in vivo cross-linkable hyaluronan derivatives. The synthesis of a model substance consisting of a D-glucuronate derivative which could simplify the development of such a modification technique is described, although a new method to prepare hyaluronan derivatives was found without its use. The modification strategy involves the use of a triazine-reagent which enables the covalent attachment of hydrophilic and hydrophobic amines to hyaluronan carboxyl groups in a controlled fashion under mild conditions. Using triazine-activated amidation we synthesized an aldehyde-derivative of hyaluronan which was used to prepare gels by cross-linking with hydrazide-modified polyvinyl-alcohol. Gels were formed in less than 1 minute by mixing equal volumes of the polymer derivatives and they were subsequently used as a carrier for bone morphogenetic protein-2. An in vitro release study showed that approximately 88% of the growth factor is retained in the gel over a 4 week period. The ability to form new bone in vivo was further evaluated in an ectopic rat model by the injection of gels containing 30 µg BMP-2. Radiographic and histological examination 4 and 10 weeks after injection showed the formation of new bone without any signs of inflammation or foreign body response. Hydroxyapatite particles were further added to improve the mechanical properties of the gel, and a comparative study was conducted. This time the induced tissue consisted not only of bone, but also of interconnected cartilage and tendon, as confirmed by histology and immunohistochemistry

Exploiting Direct Optimal Control for Motion Planning in Unstructured Environments

During the last decades, motion planning for autonomous systems has become an important area of research. The high interest is not the least due to the development of systems such as self-driving cars, unmanned aerial vehicles and robotic manipulators. The objective in optimal motion planning problems is to find feasible motion plans that also optimize a performance measure. From a control perspective, the problem is an instance of an optimal control problem. This thesis addresses optimal motion planning problems for complex dynamical systems that operate in unstructured environments, where no prior reference such as road-lane information is available. Some example scenarios are autonomous docking of vessels in harbors and autonomous parking of self-driving tractor-trailer vehicles at loading sites. The focus is to develop optimal motion planning algorithms that can reliably be applied to these types of problems. This is achieved by combining recent ideas from automatic control, numerical optimization and robotics. The first contribution is a systematic approach for computing local solutions to motion planning problems in challenging unstructured environments. The solutions are computed by combining homotopy methods and direct optimal control techniques. The general principle is to define a homotopy that transforms, or preferably relaxes, the original problem to an easily solved problem. The approach is demonstrated in motion planning problems in 2D and 3D environments, where the presented method outperforms a state-of-the-art asymptotically optimal motion planner based on random sampling. The second contribution is an optimization-based framework for automatic generation of motion primitives for lattice-based motion planners. Given a family of systems, the user only needs to specify which principle types of motions that are relevant for the considered system family. Based on the selected principle motions and a selected system instance, the framework computes a library of motion primitives by simultaneously optimizing the motions and the terminal states. The final contribution of this thesis is a motion planning framework that combines the strengths of sampling-based planners with direct optimal control in a novel way. The sampling-based planner is applied to the problem in a first step using a discretized search space, where the system dynamics and objective function are chosen to coincide with those used in a second step based on optimal control. This combination ensures that the sampling-based motion planner provides a feasible motion plan which is highly suitable as warm-start to the optimal control step. Furthermore, the second step is modified such that it also can be applied in a receding-horizon fashion, where the proposed combination of methods is used to provide theoretical guarantees in terms of recursive feasibility, worst-case objective function value and convergence to the terminal state. The proposed motion planning framework is successfully applied to several problems in challenging unstructured environments for tractor-trailer vehicles. The framework is also applied and tailored for maritime navigation for vessels in archipelagos and harbors, where it is able to compute energy-efficient trajectories which complies with the international regulations for preventing collisions at sea