An Agent-based Modelling Framework for Driving Policy Learning in Connected and Autonomous Vehicles

Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due to the sensing of its surroundings and information exchanged with other vehicles and road infrastructure, a CAV will have access to large amounts of useful data. While different control algorithms have been proposed for CAVs, the benefits brought about by connectedness of autonomous vehicles to other vehicles and to the infrastructure, and its implications on policy learning has not been investigated in literature. This paper investigates a data driven driving policy learning framework through an agent-based modelling approaches. The contributions of the paper are two-fold. A dynamic programming framework is proposed for in-vehicle policy learning with and without connectivity to neighboring vehicles. The simulation results indicate that while a CAV can learn to make autonomous decisions, vehicle-to-vehicle (V2V) communication of information improves this capability. Furthermore, to overcome the limitations of sensing in a CAV, the paper proposes a novel concept for infrastructure-led policy learning and communication with autonomous vehicles. In infrastructure-led policy learning, road-side infrastructure senses and captures successful vehicle maneuvers and learns an optimal policy from those temporal sequences, and when a vehicle approaches the road-side unit, the policy is communicated to the CAV. Deep-imitation learning methodology is proposed to develop such an infrastructure-led policy learning framework

A one-year prospective study of the safety, tolerability and pharmacokinetics of the highest available dose of paliperidone palmitate in patients with schizophrenia

<p>Abstract</p> <p>Background</p> <p>There are no previous reports of paliperidone palmitate's (PP) long term tolerability or pharmacokinetics of the highest dose in patients with schizophrenia. This study evaluates safety and tolerability, as well as pharmacokinetics, of the highest marketed dose of PP (150 mg eq. [234 mg]) in stable patients with schizophrenia over a 1-year period.</p> <p>Methods</p> <p>In this 1-year prospective study, eligible patients (aged 18-65 years; Positive and Negative Syndrome Scale's total score ≤ 70) received an initial deltoid injection of PP 150 mg eq. The second injection one week later and subsequent once-monthly injections were deltoid or gluteal. All injections were to be PP 150 mg eq. Patients willing to participate in intensive pharmacokinetic sampling were classified as Treatment A. Patients unwilling to undergo intensive pharmacokinetic sampling or unable to tolerate the 150 mg eq. dose (consequently receiving flexible doses of 50, 100 or 150 mg eq.) were classified as Treatment B.</p> <p>Results</p> <p>Of the 212 patients (safety analysis set), 73% were men; 45% white; 20% black; 34% Asians; mean (SD) age 41 (10.2) years, and mean (SD) baseline Positive and Negative Syndrome Scale total score 54.9 (9.03). A total of 53% (n = 113) patients completed the study and 104 received PP 150 mg eq. throughout. Mean (SD) mode dose of PP was 144.8 (19.58) mg eq. The dosing initiation regimen resulted in rapidly achieved and maintained therapeutic paliperidone levels over the study (average concentrations during the dosing interval were 34.7, 40.0, and 47.8 ng/mL after the 2nd, 8th, and 14th injection respectively). Most frequent (≥ 10%) treatment-emergent adverse events were nasopharyngitis (n = 37), insomnia (n = 32), injection-site pain (n = 32), headache (n = 28), and tachycardia (n = 27). Akathisia (n = 19) and tremor (n = 11) were the most common extrapyramidal adverse events. 33 patients had an SAE and 27 discontinued due to treatment-emergent adverse events. No deaths were reported. Mean (SD) weight change from baseline was 2.5 (5.41) kg at endpoint. Patients' psychoses remained stable.</p> <p>Conclusions</p> <p>Safety results after one-year therapy with the highest available dose of once-monthly paliperidone palmitate were consistent with results from previous studies, with no new concerns noted. Plasma concentrations were within the expected range.</p> <p>Trial registration no</p> <p>ClinicalTrials.gov: <a href="http://www.clinicaltrials.gov/ct2/show/NCT01150448">NCT01150448</a></p

First Observation of PP-odd γ\gamma Asymmetry in Polarized Neutron Capture on Hydrogen

We report the first observation of the parity-violating 2.2 MeV gamma-ray asymmetry $A^{np}_\gamma$ in neutron-proton capture using polarized cold neutrons incident on a liquid parahydrogen target at the Spallation Neutron Source at Oak Ridge National Laboratory. $A^{np}_\gamma$ isolates the $\Delta I=1$, \mbox{$^{3}S_{1}\rightarrow {^{3}P_{1}}$} component of the weak nucleon-nucleon interaction, which is dominated by pion exchange and can be directly related to a single coupling constant in either the DDH meson exchange model or pionless EFT. We measured $A^{np}_\gamma = [-3.0 \pm 1.4 (stat) \pm 0.2 (sys)]\times 10^{-8}$, which implies a DDH weak $\pi NN$ coupling of $h_{\pi}^{1} = [2.6 \pm 1.2(stat) \pm 0.2(sys)] \times 10^{-7}$ and a pionless EFT constant of $C^{^{3}S_{1}\rightarrow ^{3}P_{1}}/C_{0}=[-7.4 \pm 3.5 (stat) \pm 0.5 (sys)] \times 10^{-11}$ MeV$^{-1}$. We describe the experiment, data analysis, systematic uncertainties, and the implications of the result.Comment: 6 pages, 5 figure

Imaging Molecular Structure through Femtosecond Photoelectron Diffraction on Aligned and Oriented Gas-Phase Molecules

This paper gives an account of our progress towards performing femtosecond time-resolved photoelectron diffraction on gas-phase molecules in a pump-probe setup combining optical lasers and an X-ray Free-Electron Laser. We present results of two experiments aimed at measuring photoelectron angular distributions of laser-aligned 1-ethynyl-4-fluorobenzene (C8H5F) and dissociating, laseraligned 1,4-dibromobenzene (C6H4Br2) molecules and discuss them in the larger context of photoelectron diffraction on gas-phase molecules. We also show how the strong nanosecond laser pulse used for adiabatically laser-aligning the molecules influences the measured electron and ion spectra and angular distributions, and discuss how this may affect the outcome of future time-resolved photoelectron diffraction experiments.Comment: 24 pages, 10 figures, Faraday Discussions 17

Phugoid motion for grazing-entry trajectories at near-circular speeds

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/77023/1/AIAA-26742-801.pd

On the distance of the globular cluster M4 (NGC 6121) using RR Lyrae stars: I. optical and near-infrared Period-Luminosity and Period-Wesenheit relations

We present new distance determinations to the nearby globular M4 (NGC~6121) based on accurate optical and Near Infrared (NIR) mean magnitudes for fundamental (FU) and first overtone (FO) RR Lyrae variables (RRLs), and new empirical optical and NIR Period-Luminosity (PL) and Period-Wesenheit (PW) relations. We have found that optical-NIR and NIR PL and PW relations are affected by smaller standard deviations than optical relations. The difference is the consequence of a steady decrease in the intrinsic spread of cluster RRL apparent magnitudes at fixed period as longer wavelengths are considered. The weighted mean visual apparent magnitude of 44 cluster RRLs is \left=13.329\pm0.001 (standard error of the mean) $\pm$0.177 (weighted standard deviation) mag. Distances were estimated using RR Lyr itself to fix the zero-point of the empirical PL and PW relations. Using the entire sample (FU$+$FO) we found weighted mean true distance moduli of 11.35$\pm$0.03$\pm$0.05 mag and 11.32$\pm$0.02$\pm$0.07 mag. Distances were also evaluated using predicted metallicity dependent PLZ and PWZ relations. We found weighted mean true distance moduli of 11.283$\pm$0.010$\pm$0.018 mag (NIR PLZ) and 11.272$\pm$0.005$\pm$0.019 mag (optical--NIR and NIR PWZ). The above weighted mean true distance moduli agree within 1$\sigma$. The same result is found from distances based on PWZ relations in which the color index is independent of the adopted magnitude (11.272$\pm$0.004$\pm$0.013 mag). These distances agree quite well with the geometric distance provided by \citep{kaluzny2013} based on three eclipsing binaries. The available evidence indicates that this approach can provide distances to globulars hosting RRLs with a precision better than 2--3\%.Comment: Accepted for publication on Ap

Altered processing of sensory stimuli in patients with migraine

Migraine is a cyclic disorder, in which functional and morphological brain changes fluctuate over time, culminating periodically in an attack. In the migrainous brain, temporal processing of external stimuli and sequential recruitment of neuronal networks are often dysfunctional. These changes reflect complex CNS dysfunction patterns. Assessment of multimodal evoked potentials and nociceptive reflex responses can reveal altered patterns of the brain's electrophysiological activity, thereby aiding our understanding of the pathophysiology of migraine. In this Review, we summarize the most important findings on temporal processing of evoked and reflex responses in migraine. Considering these data, we propose that thalamocortical dysrhythmia may be responsible for the altered synchronicity in migraine. To test this hypothesis in future research, electrophysiological recordings should be combined with neuroimaging studies so that the temporal patterns of sensory processing in patients with migraine can be correlated with the accompanying anatomical and functional changes

Measurement of inclusive D*+- and associated dijet cross sections in photoproduction at HERA

Inclusive photoproduction of D*+- mesons has been measured for photon-proton centre-of-mass energies in the range 130 < W < 280 GeV and a photon virtuality Q^2 < 1 GeV^2. The data sample used corresponds to an integrated luminosity of 37 pb^-1. Total and differential cross sections as functions of the D* transverse momentum and pseudorapidity are presented in restricted kinematical regions and the data are compared with next-to-leading order (NLO) perturbative QCD calculations using the "massive charm" and "massless charm" schemes. The measured cross sections are generally above the NLO calculations, in particular in the forward (proton) direction. The large data sample also allows the study of dijet production associated with charm. A significant resolved as well as a direct photon component contribute to the cross section. Leading order QCD Monte Carlo calculations indicate that the resolved contribution arises from a significant charm component in the photon. A massive charm NLO parton level calculation yields lower cross sections compared to the measured results in a kinematic region where the resolved photon contribution is significant.Comment: 32 pages including 6 figure