Topology-Guided Path Integral Approach for Stochastic Optimal Control in Cluttered Environment

This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path integral control framework, which forms the backbone of the proposed method, re-writes the Hamilton-Jacobi-Bellman equation as a statistical inference problem; the resulting inference problem is solved by a sampling procedure that computes the distribution of controlled trajectories around the trajectory by the passive dynamics. For motion control of robots in a highly cluttered environment, however, this sampling can easily be trapped in a local minimum unless the sample size is very large, since the global optimality of local minima depends on the degree of uncertainty. Thus, a homology-embedded sampling-based planner that identifies many (potentially) local-minimum trajectories in different homology classes is developed to aid the sampling process. In combination with a receding-horizon fashion of the optimal control the proposed method produces a dynamically feasible and collision-free motion plans without being trapped in a local minimum. Numerical examples on a synthetic toy problem and on quadrotor control in a complex obstacle field demonstrate the validity of the proposed method.Comment: arXiv admin note: text overlap with arXiv:1510.0534

Measurement of the Forward-Backward Charge Asymmetry in Top-Quark Pair Production in Proton-Antiproton Collisions at D0

A measurement of the forward-backward charge asymmetry in top-antitop (t\bar{t}) pair production in proton-antiproton (p\bar{p}) collisions is presented. The asymmetry is measured for different jet multiplicities in the lepton+jets final state on 0.9 fb^{-1} of data collected by the D0 experiment at the Fermilab Tevatron Collider. The result is sensitive to new physics, which is demonstrated by setting an upper limit on t\bar{t} production via heavy neutral gauge bosons (Z^{\prime}).Comment: Presented at 16th International Conference on Supersymmetry and the Unification of Fundamental Interactions (SUSY08), Seoul, Korea, 16-21 Jun 200

Cardiovascular Disease Risk Factors Related to Shift Work among Korean Workers Aged from 30 to 49 Years

This study was to compare health behaviors between day workers (DW ) and shift workers (SW), and to investigate the cardiovascular disease (CVD) risk factors among 30-49 years Korean workers. SW showed higher prevalence of smoking than DW. The proportion of adequate sleep was lower in SW than in DW. DW showed high.er prevalence of impaired fasting glucose, however, there were no significant differences in hypertension, obesity, hypercholesterolemia, and metabolic syndrome between DW and SW. Further research is recommended to include mediating factors such as organizational culture or working time, etc., for scrutinizing the association between work type and CVD risk factors

Sepsis-Like Systemic Inflammation Induced by Nano-Sized Extracellular Vesicles From Feces

Nano-sized extracellular vesicles (EVs), including exosomes, microvesicles, and other types of vesicles, are released by most mammalian cells and bacteria. We here ask whether feces contain EVs of mammalian and/or bacterial origin, and whether these EVs induce systemic inflammation. Fecal extracellular vesicles (fEVs) were isolated from mice and humans. The presence of EVs from Gram-negative and Gram-positive bacteria was detected by enzyme-linked immunosorbent assay using anti-lipid A and anti-lipoteichoic acid antibodies, whereas Western blot using anti-beta-actin antibody was employed to detect host-derived EVs in the fEVs. Further, fEVs were administered into mice by intraperitoneal injection, and inflammatory responses were investigated in the peritoneum, blood, and lungs. The role of TLR2 and TLR4 were studied using knockout mice. Significant quantities of EVs were present in feces from mice as well as humans, and derived from Gram-negative and Gram-positive bacteria, as well as the host. Bacteria-free fEVs introduced into the peritoneum induced local and systemic inflammation (including in the lungs), but fEVs from germ-free animals had weaker effects. This pronounced local and systemic inflammatory responses seemed to be induced by EVs from both Gram-negative and Gram-positive bacteria, and was attenuated in mice lacking TLR2 or TLR4. Our findings show that fEVs cause sepsis-like systemic inflammation, when introduced intraperitoneally, a process regulated by TLR2 and TLR4.11Ysciescopu