Optimal path planning for nonholonomic robotics systems via parametric optimisation

Abstract. Motivated by the path planning problem for robotic systems this paper considers nonholonomic path planning on the Euclidean group of motions SE(n) which describes a rigid bodies path in n-dimensional Euclidean space. The problem is formulated as a constrained optimal kinematic control problem where the cost function to be minimised is a quadratic function of translational and angular velocity inputs. An application of the Maximum Principle of optimal control leads to a set of Hamiltonian vector field that define the necessary conditions for optimality and consequently the optimal velocity history of the trajectory. It is illustrated that the systems are always integrable when n = 2 and in some cases when n = 3. However, if they are not integrable in the most general form of the cost function they can be rendered integrable by considering special cases. This implies that it is possible to reduce the kinematic system to a class of curves defined analytically. If the optimal motions can be expressed analytically in closed form then the path planning problem is reduced to one of parameter optimisation where the parameters are optimised to match prescribed boundary conditions.This reduction procedure is illustrated for a simple wheeled robot with a sliding constraint and a conventional slender underwater vehicle whose velocity in the lateral directions are constrained due to viscous damping

Socioeconomic inequalities and the equity impact of population-level interventions for adolescent health: an overview of systematic reviews

Objectives: Despite robust evidence on health inequalities in adulthood, less attention has been paid to inequalities in adolescence. The aim of this overview was to examine systematic review (SR) evidence on the equity impact of population-level interventions intended to improve health, happiness and wellbeing for adolescents. Study Design: An overview (review of systematic reviews). Methods: Eleven electronic databases were systematically searched to identify SRs of population-level interventions for adolescent health. A secondary data analysis of socioeconomic inequality was conducted to identify whether SRs reported on primary studies in terms of disadvantage, by measures of socioeconomic status (SES) and by differential effects. Results: 35,310 review titles were screened; 566 full texts were retrieved and 140 SRs met the predefined selection criteria. Differential intervention effects were considered in 42/140 (30%) SRs, 18/140 (13%) reported primary studies using an SES measure and 16/140 (11%) explicitly reported differential effects. 15/140 SRs (11%) explicitly focused on socioeconomic inequalities; of these 4/15 reported differential intervention effects in more detail, 7/15 concluded there was insufficient primary evidence to identify the impact of interventions on socioeconomic inequalities and 4/15 planned to examine differential effects by SES, but this was not reported further. Conclusions: Our overview identifies that there is limited SR evidence on the equity impact of population-level interventions for adolescent health. Strengthening the evidence on whether interventions narrow or widen inequalities for adolescents must be a priority for public health research

Haemorrhoidal artery ligation versus rubber band ligation for the management of symptomatic second-degree and third-degree haemorrhoids (HubBLe): a multicentre, open-label, randomised controlled trial.

BACKGROUND: Optimum surgical intervention for low-grade haemorrhoids is unknown. Haemorrhoidal artery ligation (HAL) has been proposed as an efficacious, safe therapy while rubber band ligation (RBL) is a commonly used outpatient treatment. We compared recurrence after HAL versus RBL in patients with grade II-III haemorrhoids. METHODS: This multicentre, open-label, parallel group, randomised controlled trial included patients from 17 acute UK NHS trusts. We screened patients aged 18 years or older presenting with grade II-III haemorrhoids. We excluded patients who had previously received any haemorrhoid surgery, more than one injection treatment for haemorrhoids, or more than one RBL procedure within 3 years before recruitment. Eligible patients were randomly assigned (in a 1:1 ratio) to either RBL or HAL with Doppler. Randomisation was computer-generated and stratified by centre with blocks of random sizes. Allocation concealment was achieved using a web-based system. The study was open-label with no masking of participants, clinicians, or research staff. The primary outcome was recurrence at 1 year, derived from the patient's self-reported assessment in combination with resource use from their general practitioner and hospital records. Recurrence was analysed in patients who had undergone one of the interventions and been followed up for at least 1 year. This study is registered with the ISRCTN registry, ISRCTN41394716. FINDINGS: From Sept 9, 2012, to May 6, 2014, of 969 patients screened, 185 were randomly assigned to the HAL group and 187 to the RBL group. Of these participants, 337 had primary outcome data (176 in the RBL group and 161 in the HAL group). At 1 year post-procedure, 87 (49%) of 176 patients in the RBL group and 48 (30%) of 161 patients in the HAL group had haemorrhoid recurrence (adjusted odds ratio [aOR] 2·23, 95% CI 1·42-3·51; p=0·0005). The main reason for this difference was the number of extra procedures required to achieve improvement (57 [32%] participants in the RBL group and 23 [14%] participants in the HAL group had a subsequent procedure for haemorrhoids). The mean pain 1 day after procedure was 3·4 (SD 2·8) in the RBL group and 4·6 (2·8) in the HAL group (difference -1·2, 95% CI -1·8 to -0·5; p=0·0002); at day 7 the scores were 1·6 (2·3) in the RBL group and 3·1 (2·4) in the HAL group (difference -1·5, -2·0 to -1·0; p<0·0001). Pain scores did not differ between groups at 21 days and 6 weeks. 15 individuals reported serious adverse events requiring hospital admission. One patient in the RBL group had a pre-existing rectal tumour. Of the remaining 14 serious adverse events, 12 (7%) were among participants treated with HAL and two (1%) were in those treated with RBL. Six patients had pain (one treated with RBL, five treated with HAL), three had bleeding not requiring transfusion (one treated with RBL, two treated with HAL), two in the HAL group had urinary retention, two in the HAL group had vasovagal upset, and one in the HAL group had possible sepsis (treated with antibiotics). INTERPRETATION: Although recurrence after HAL was lower than a single RBL, HAL was more painful than RBL. The difference in recurrence was due to the need for repeat bandings in the RBL group. Patients (and health commissioners) might prefer such a course of RBL to the more invasive HAL. FUNDING: NIHR Health Technology Assessment programme

First-principles study of the structural energetics of PdTi and PtTi

The structural energetics of PdTi and PtTi have been studied using first-principles density-functional theory with pseudopotentials and a plane-wave basis. We predict that in both materials, the experimentally reported orthorhombic $B19$ phase will undergo a low-temperature phase transition to a monoclinic $B19'$ ground state. Within a soft-mode framework, we relate the $B19$ structure to the cubic $B2$ structure, observed at high temperature, and the $B19'$ structure to $B19$ via phonon modes strongly coupled to strain. In contrast to NiTi, the $B19$ structure is extremely close to hcp. We draw on the analogy to the bcc-hcp transition to suggest likely transition mechanisms in the present case.Comment: 8 pages 5 figure

An ALMA survey of submillimetre galaxies in the Extended Chandra Deep Field-South: detection of [C II] at z = 4.4

We present Atacama Large Millimeter Array (ALMA) 870-μm (345-GHz) observations of two submillimetre galaxies (SMGs) drawn from an ALMA study of the 126 submillimetre sources from the LABOCA Extended Chandra Deep Field-South Survey (LESS). The ALMA data identify the counterparts to these previously unidentified submillimetre sources and serendipitously detect bright emission lines in their spectra which we show are most likely to be [CII] 157.74 μm emission yielding redshifts of z = 4.42 and 4.44. This blind detection rate within the 7.5-GHz bandpass of ALMA is consistent with the previously derived photometric redshift distribution of SMGs and suggests a modest, but not dominant (≲25 per cent), tail of 870-μm selected SMGs at z ≳ 4. We find that the ratio of L[C II]/LFIR in these SMGs is much higher than seen for similarly far-infrared-luminous galaxies at z ˜ 0, which is attributed to the more extended gas reservoirs in these high-redshift ultraluminous infrared galaxies (ULIRGs). Indeed, in one system we show that the [C II] emission shows hints of extended emission on ≳ 3 kpc scales. Finally, we use the volume probed by our ALMA survey to show that the bright end of the [C II] luminosity function evolves strongly between z = 0 and ˜4.4, reflecting the increased interstellar medium cooling in galaxies as a result of their higher star formation rates. These observations demonstrate that even with short integrations, ALMA is able to detect the dominant fine-structure cooling lines from high-redshift ULIRGs, measure their energetics and spatially resolved properties and trace their evolution with redshift

Geologic and geodetic constraints on the magnitude and frequency of earthquakes along Malawi’s active faults: the Malawi seismogenic source model (MSSM)

Active fault data are commonly used in seismic hazard assessments, but there are challenges in deriving the slip rate, geometry, and frequency of earthquakes along active faults. Herein, we present the open-access geospatial Malawi Seismogenic Source Database (MSSD), which describes the seismogenic properties of faults that have formed during East African rifting in Malawi. We first use empirical observations to geometrically classify active faults into section, fault, and multi-fault seismogenic sources. For sources in the North Basin of Lake Malawi, slip rates can be derived from the vertical offset of a seismic reflector that is estimated to be 75 ka based on dated core. Elsewhere, slip rates are constrained from advancing a ‘systems-based’ approach that partitions geodetically-derived rift extension rates in Malawi between seismogenic sources using a priori constraints on regional strain distribution in magma-poor continental rifts. Slip rates are then combined with source geometry and empirical scaling relationships to estimate earthquake magnitudes and recurrence intervals, and their uncertainty is described from the variability of outcomes from a logic tree used in these calculations. We find that for sources in the Lake Malawi’s North Basin, where slip rates can be derived from both the geodetic data and the offset seismic reflector, the slip rate estimates are within error of each other, although those from the offset reflector are higher. Sources in the MSSD are 5–200 km long, which implies that large magnitude (MW 7–8) earthquakes may occur in Malawi. Low slip rates (0.05–2 mm/yr), however, mean that the frequency of such events will be low (recurrence intervals ~103–104 years). The MSSD represents an important resource for investigating Malawi’s increasing seismic risks and provides a framework for incorporating active fault data into seismic hazard assessment in other tectonically active regions

Genetic and clinical determinants of abdominal aortic diameter: genome-wide association studies, exome array data and Mendelian randomization study

Progressive dilation of the infrarenal aortic diameter is a consequence of the ageing process and is considered the main determinant of abdominal aortic aneurysm (AAA). We aimed to investigate the genetic and clinical determinants of abdominal aortic diameter (AAD). We conducted a meta-analysis of genome-wide association studies in 10 cohorts (n = 13 542) imputed to the 1000 Genome Project reference panel including 12 815 subjects in the discovery phase and 727 subjects [Partners Biobank cohort 1 (PBIO)] as replication. Maximum anterior–posterior diameter of the infrarenal aorta was used as AAD. We also included exome array data (n = 14 480) from seven epidemiologic studies. Single-variant and gene-based associations were done using SeqMeta package. A Mendelian randomization analysis was applied to investigate the causal effect of a number of clinical risk factors on AAD. In genome-wide association study (GWAS) on AAD, rs74448815 in the intronic region of LDLRAD4 reached genome-wide significance (beta = −0.02, SE = 0.004, P-value = 2.10 × 10(−8)). The association replicated in the PBIO1 cohort (P-value = 8.19 × 10(−4)). In exome-array single-variant analysis (P-value threshold = 9 × 10(−7)), the lowest P-value was found for rs239259 located in SLC22A20 (beta = 0.007, P-value = 1.2 × 10(−5)). In the gene-based analysis (P-value threshold = 1.85 × 10(−6)), PCSK5 showed an association with AAD (P-value = 8.03 × 10(−7)). Furthermore, in Mendelian randomization analyses, we found evidence for genetic association of pulse pressure (beta = −0.003, P-value = 0.02), triglycerides (beta = −0.16, P-value = 0.008) and height (beta = 0.03, P-value < 0.0001), known risk factors for AAA, consistent with a causal association with AAD. Our findings point to new biology as well as highlighting gene regions in mechanisms that have previously been implicated in the genetics of other vascular diseases

University teachers’ self-reflection on their academic growth

This study followed the academic growth of four university teachers, over a two-year period, with the intention of enhancing inquiry-based learning in practice. Data were generated within the natural settings of classrooms, laboratories and lecture halls, through the analysis of teaching materials, low-participation observation, informal discussions and semi-formal interviews. The research approach was based on a critical social paradigm, assuming principles of action-research methodology privileging a transitional ‘instructional coaching approach’. Outcomes show a marked interest in the design and development of innovative approaches to teaching, learning, feedback and assessment. They demonstrated strong collaborative practices, insightful reflections on their teaching activities, and willingness to share evaluations both within and without of university contexts and successfully contributing thoughts and ideas to a wider audience.This research was financed by European Founds ‘FEDER através do Programa Operacional Factores de Competitividade – COMPETE’ and by National Funds through ‘FCT – Fundação para a Ciência e a Tecnologia’ project PTDC/CPE-CED/117516/2010