Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties

Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to guarantee safety in multi-agent environments, but they assume perfect knowledge of both the robot dynamics and other agents' dynamics. While knowledge of the robot's dynamics might be reasonably well known, the heterogeneity of agents in real-world environments means there will always be considerable uncertainty in our prediction of other agents' dynamics. This work aims to learn high-confidence bounds for these dynamic uncertainties using Matrix-Variate Gaussian Process models, and incorporates them into a robust multi-agent CBF framework. We transform the resulting min-max robust CBF into a quadratic program, which can be efficiently solved in real time. We verify via simulation results that the nominal multi-agent CBF is often violated during agent interactions, whereas our robust formulation maintains safety with a much higher probability and adapts to learned uncertainties

Lagrangian and Eulerian dataset of the wake downstream of a smooth cylinder at a Reynolds number equal to 3900.

The dataset contains Eulerian velocity and pressure fields, and Lagrangian particle trajectories of the wake flow downstream of a smooth cylinder at a Reynolds number equal to 3900. An open source Direct Numerical Simulation (DNS) flow solver named Incompact3d was used to calculate the Eulerian field around the cylinder. The synthetic Lagrangian tracer particles were transported using a fourth-order Runge-Kutta scheme in time and trilinear interpolations in space. Trajectories of roughly 200,000 particles for two 3D sub-domains are available to the public. This dataset can be used as a test case for tracking algorithm assessment, exploring the Lagrangian physics, statistic analyses, machine learning, and data assimilation interests

Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties

Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to guarantee safety in multi-agent environments, but they assume perfect knowledge of both the robot dynamics and other agents' dynamics. While knowledge of the robot's dynamics might be reasonably well known, the heterogeneity of agents in real-world environments means there will always be considerable uncertainty in our prediction of other agents' dynamics. This work aims to learn high-confidence bounds for these dynamic uncertainties using Matrix-Variate Gaussian Process models, and incorporates them into a robust multi-agent CBF framework. We transform the resulting min-max robust CBF into a quadratic program, which can be efficiently solved in real time. We verify via simulation results that the nominal multi-agent CBF is often violated during agent interactions, whereas our robust formulation maintains safety with a much higher probability and adapts to learned uncertaintie

LSMR Iterative Method for General Coupled Matrix Equations

By extending the idea of LSMR method, we present an iterative method to solve the general coupled matrix equations ∑k=1qAikXkBik=Ci, i=1,2,…,p, (including the generalized (coupled) Lyapunov and Sylvester matrix equations as special cases) over some constrained matrix groups (X1,X2,…,Xq), such as symmetric, generalized bisymmetric, and (R,S)-symmetric matrix groups. By this iterative method, for any initial matrix group (X1(0),X2(0),…,Xq(0)), a solution group (X1*,X2*,…,Xq*) can be obtained within finite iteration steps in absence of round-off errors, and the minimum Frobenius norm solution or the minimum Frobenius norm least-squares solution group can be derived when an appropriate initial iterative matrix group is chosen. In addition, the optimal approximation solution group to a given matrix group (X¯1,X¯2,…,X¯q) in the Frobenius norm can be obtained by finding the least Frobenius norm solution group of new general coupled matrix equations. Finally, numerical examples are given to illustrate the effectiveness of the presented method

Numerical analysis of shipping water impacting a step structure

Shipping water, the flow washing over and impacting the upper decks of ships and offshore structures, occurs frequently during their service life and often causes structural problems. For engineers to design safe floating structures subjected to shipping water it is essential to gain an in-depth understanding of its depth and flow field, and the resulting impact forces. In this work, Computational Fluid Dynamics (CFD) is applied to understand the physics of shipping water washing over a stepped platform. We find that the most accurate solutions are obtained with the turbulence closure. The hydrodynamic load generated by the shipping water is found to strongly depends on the kinematic energy of the water hitting the step. It is shown that with smaller values of the freeboard a more dynamic flow ensues, with a stronger vortex and larger velocity gradient resulting in deeper shipping water and a larger impact force

Antioxidants and Atherosclerosis: Mechanistic Aspects

Atherosclerosis is a chronic inflammatory disease which is a major cause of coronary heart disease and stroke in humans. It is characterized by intimal plaques and cholesterol accumulation in arterial walls. The side effects of currently prescribed synthetic drugs and their high cost in the treatment of atherosclerosis has prompted the use of alternative herbal medicines, dietary supplements, and antioxidants associated with fewer adverse effects for the treatment of atherosclerosis. This article aims to present the activity mechanisms of antioxidants on atherosclerosis along with a review of the most prevalent medicinal plants employed against this multifactorial disease. The wide-ranging information in this review article was obtained from scientific databases including PubMed, Web of Science, Scopus, Science Direct and Google Scholar. Natural and synthetic antioxidants have a crucial role in the prevention and treatment of atherosclerosis through different mechanisms. These include: The inhibition of low density lipoprotein (LDL) oxidation, the reduction of reactive oxygen species (ROS) generation, the inhibition of cytokine secretion, the prevention of atherosclerotic plaque formation and platelet aggregation, the preclusion of mononuclear cell infiltration, the improvement of endothelial dysfunction and vasodilation, the augmentation of nitric oxide (NO) bioavailability, the modulation of the expression of adhesion molecules such as vascular cell adhesion molecule-1 (VCAM-1) and intercellular adhesion molecule-1 (ICAM-1) on endothelial cells, and the suppression of foam cell formation. Keywords Author Keywords:atherosclerosis; oxidative stress; reactive oxygen species; LDL oxidation; antioxidant; medicinal plant

Assessing the impact of Bacillus strains mixture probiotic on water quality, growth performance, blood profile and intestinal morphology of Nile tilapia, Oreochromis niloticus

The aim of this study was to assess the impact of a commercial probiotic, Sanolife PRO‐F, on water quality, growth performance, blood profiles and intestinal morphometry of monosex Nile tilapia. A field trial was conducted for 10 weeks in which tilapia fingerlings (20 ± 1.26 g) were randomly distributed into three replicate ponds which were subdivided into three treatment groups, receiving Sanolife PRO‐F at 0 (B0), 0.1 (B1) and 0.2 (B2) g/kg diet, respectively. The results showed a significant improvement in growth performance, feed conversion ratio and blood profiles in tilapia fed on treated diets. The whole intestinal lengths, anterior and terminal intestinal villi heights and anterior goblet cells count were greater in tilapia fed on treated diets. There were no noticeable differences in growth and intestinal morphology between tilapia fed on B1 and B2 diets. The ammonia concentration in water was lower with B1 diet while electric conductivity, salinity and total dissolved solids were higher with the B2 diet. The pH level of pond water was enhanced by both diets, B1 and B2. In conclusion, application of Sanolife PRO‐F at 0.1–0.2 g/kg diet might have beneficial effects on growth, immunity, stress responses and gut health and function as well as the water quality of farmed Nile tilapia

A forward-backward fragment assembling algorithm for the identification of genomic amplification and deletion breakpoints using high-density single nucleotide polymorphism (SNP) array

<p>Abstract</p> <p>Background</p> <p>DNA copy number aberration (CNA) is one of the key characteristics of cancer cells. Recent studies demonstrated the feasibility of utilizing high density single nucleotide polymorphism (SNP) genotyping arrays to detect CNA. Compared with the two-color array-based comparative genomic hybridization (array-CGH), the SNP arrays offer much higher probe density and lower signal-to-noise ratio at the single SNP level. To accurately identify small segments of CNA from SNP array data, segmentation methods that are sensitive to CNA while resistant to noise are required.</p> <p>Results</p> <p>We have developed a highly sensitive algorithm for the edge detection of copy number data which is especially suitable for the SNP array-based copy number data. The method consists of an over-sensitive edge-detection step and a test-based forward-backward edge selection step.</p> <p>Conclusion</p> <p>Using simulations constructed from real experimental data, the method shows high sensitivity and specificity in detecting small copy number changes in focused regions. The method is implemented in an R package FASeg, which includes data processing and visualization utilities, as well as libraries for processing Affymetrix SNP array data.</p