1,134 research outputs found
Splanchnic vein thrombosis in myeloproliferative neoplasms: Pathophysiology and molecular mechanisms of disease
Myeloproliferative neoplasms (MPNs) are the most common underlying prothrombotic disorder found in patients with splanchnic vein thrombosis (SVT). Clinical risk factors for MPN-associated SVTs include younger age, female sex, concomitant hypercoagulable disorders, and the JAK2 V617F mutation. These risk factors are distinct from those associated with arterial or deep venous thrombosis (DVT) in MPN patients, suggesting disparate disease mechanisms. The pathophysiology of SVT is thought to derive from local interactions between activated blood cells and the unique splanchnic endothelial environment. Other mutations commonly found in MPNs, including CALR and MPL, are rare in MPN-associated SVT. The purpose of this article is to review the clinical and molecular risk factors for MPN-associated SVT, with particular focus on the possible mechanisms of SVT formation in MPN patients
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments
High-speed trajectory planning through unknown environments requires
algorithmic techniques that enable fast reaction times while maintaining safety
as new information about the operating environment is obtained. The requirement
of computational tractability typically leads to optimization problems that do
not include the obstacle constraints (collision checks are done on the
solutions) or use a convex decomposition of the free space and then impose an
ad-hoc time allocation scheme for each interval of the trajectory. Moreover,
safety guarantees are usually obtained by having a local planner that plans a
trajectory with a final "stop" condition in the free-known space. However,
these two decisions typically lead to slow and conservative trajectories. We
propose FASTER (Fast and Safe Trajectory Planner) to overcome these issues.
FASTER obtains high-speed trajectories by enabling the local planner to
optimize in both the free-known and unknown spaces. Safety guarantees are
ensured by always having a feasible, safe back-up trajectory in the free-known
space at the start of each replanning step. Furthermore, we present a Mixed
Integer Quadratic Program formulation in which the solver can choose the
trajectory interval allocation, and where a time allocation heuristic is
computed efficiently using the result of the previous replanning iteration.
This proposed algorithm is tested extensively both in simulation and in real
hardware, showing agile flights in unknown cluttered environments with
velocities up to 3.6 m/s.Comment: IROS 201
Robust Adaptive Control Barrier Functions: An Adaptive & Data-Driven Approach to Safety (Extended Version)
A new framework is developed for control of constrained nonlinear systems
with structured parametric uncertainties. Forward invariance of a safe set is
achieved through online parameter adaptation and data-driven model estimation.
The new adaptive data-driven safety paradigm is merged with a recent adaptive
control algorithm for systems nominally contracting in closed-loop. This
unification is more general than other safety controllers as closed-loop
contraction does not require the system be invertible or in a particular form.
Additionally, the approach is less expensive than nonlinear model predictive
control as it does not require a full desired trajectory, but rather only a
desired terminal state. The approach is illustrated on the pitch dynamics of an
aircraft with uncertain nonlinear aerodynamics.Comment: Added aCBF non-Lipschitz example and discussion on approach
implementatio
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments
Autonomous navigation through unknown environments is a challenging task that
entails real-time localization, perception, planning, and control. UAVs with
this capability have begun to emerge in the literature with advances in
lightweight sensing and computing. Although the planning methodologies vary
from platform to platform, many algorithms adopt a hierarchical planning
architecture where a slow, low-fidelity global planner guides a fast,
high-fidelity local planner. However, in unknown environments, this approach
can lead to erratic or unstable behavior due to the interaction between the
global planner, whose solution is changing constantly, and the local planner; a
consequence of not capturing higher-order dynamics in the global plan. This
work proposes a planning framework in which multi-fidelity models are used to
reduce the discrepancy between the local and global planner. Our approach uses
high-, medium-, and low-fidelity models to compose a path that captures
higher-order dynamics while remaining computationally tractable. In addition,
we address the interaction between a fast planner and a slower mapper by
considering the sensor data not yet fused into the map during the collision
check. This novel mapping and planning framework for agile flights is validated
in simulation and hardware experiments, showing replanning times of 5-40 ms in
cluttered environments.Comment: ICRA 201
Money and Goldstone modes
Why is ``worthless'' fiat money generally accepted as payment for goods and
services? In equilibrium theory, the value of money is generally not
determined: the number of equations is one less than the number of unknowns, so
only relative prices are determined. In the language of mathematics, the
equations are ``homogeneous of order one''. Using the language of physics, this
represents a continuous ``Goldstone'' symmetry. However, the continuous
symmetry is often broken by the dynamics of the system, thus fixing the value
of the otherwise undetermined variable. In economics, the value of money is a
strategic variable which each agent must determine at each transaction by
estimating the effect of future interactions with other agents. This idea is
illustrated by a simple network model of monopolistic vendors and buyers, with
bounded rationality. We submit that dynamical, spontaneous symmetry breaking is
the fundamental principle for fixing the value of money. Perhaps the continuous
symmetry representing the lack of restoring force is also the fundamental
reason for large fluctuations in stock markets.Comment: 7 pages, 3 figure
Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions
Autonomous landing on a moving platform presents unique challenges for
multirotor vehicles, including the need to accurately localize the platform,
fast trajectory planning, and precise/robust control. Previous works studied
this problem but most lack explicit consideration of the wind disturbance,
which typically leads to slow descents onto the platform. This work presents a
fully autonomous vision-based system that addresses these limitations by
tightly coupling the localization, planning, and control, thereby enabling fast
and accurate landing on a moving platform. The platform's position,
orientation, and velocity are estimated by an extended Kalman filter using
simulated GPS measurements when the quadrotor-platform distance is large, and
by a visual fiducial system when the platform is nearby. The landing trajectory
is computed online using receding horizon control and is followed by a boundary
layer sliding controller that provides tracking performance guarantees in the
presence of unknown, but bounded, disturbances. To improve the performance, the
characteristics of the turbulent conditions are accounted for in the
controller. The landing trajectory is fast, direct, and does not require
hovering over the platform, as is typical of most state-of-the-art approaches.
Simulations and hardware experiments are presented to validate the robustness
of the approach.Comment: 7 pages, 8 figures, ICRA2020 accepted pape
Extracting oil palm crown from worldview-2 satellite image
Oil palm (OP) is the most commercial crop in Malaysia. Estimating the crowns is important for biomass estimation from high resolution satellite (HRS) image. This study examined extraction of individual OP crown from a WorldView-2 image using twofold algorithms, i.e., masking of Non-OP pixels and detection of individual OP crown based on the watershed segmentation of greyscale images. The study site was located in Beluran district, central Sabah, where matured OPs with the age ranging from 15 to 25 years old have been planted. We examined two compound vegetation indices of (NDVI+1)*DVI and NDII for masking non-OP crown areas. Using kappa statistics, an optimal threshold value was set with the highest accuracy at 90.6% for differentiating OP crown areas from Non-OP areas. After the watershed segmentation of OP crown areas with additional post-procedures, about 77% of individual OP crowns were successfully detected in comparison to the manual based delineation. Shape and location of each crown segment was then assessed based on a modified version of the goodness measures of Möller et al which was 0.3, indicating an acceptable CSGM (combined segmentation goodness measures) agreements between the automated and manually delineated crowns (perfect case is '1')
Real-Time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions
To plan safe trajectories in urban environments, autonomous vehicles must be
able to quickly assess the future intentions of dynamic agents. Pedestrians are
particularly challenging to model, as their motion patterns are often uncertain
and/or unknown a priori. This paper presents a novel changepoint detection and
clustering algorithm that, when coupled with offline unsupervised learning of a
Gaussian process mixture model (DPGP), enables quick detection of changes in
intent and online learning of motion patterns not seen in prior training data.
The resulting long-term movement predictions demonstrate improved accuracy
relative to offline learning alone, in terms of both intent and trajectory
prediction. By embedding these predictions within a chance-constrained motion
planner, trajectories which are probabilistically safe to pedestrian motions
can be identified in real-time. Hardware experiments demonstrate that this
approach can accurately predict pedestrian motion patterns from onboard
sensor/perception data and facilitate robust navigation within a dynamic
environment.Comment: Submitted to 2014 International Workshop on the Algorithmic
Foundations of Robotic
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