From Uncertainty Data to Robust Policies for Temporal Logic Planning

We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via mixed-integer constraints. Both the system dynamics and the specifications are known but affected by uncertainty. The distribution of the uncertainty is unknown, however realizations can be obtained. We introduce a data-driven approach where the constraints are fulfilled for a set of realizations and provide probabilistic generalization guarantees as a function of the number of considered realizations. We use separate chance constraints for the satisfaction of the specification and operational constraints. This allows us to quantify their violation probabilities independently. We compute disturbance feedback policies as solutions of mixed-integer linear or quadratic optimization problems. By using feedback we can exploit information of past realizations and provide feasibility for a wider range of situations compared to static input sequences. We demonstrate the proposed method on two robust motion-planning case studies for autonomous driving

Cross-entropy Temporal Logic Motion Planning

This paper presents a method for optimal trajectory generation for discrete-time nonlinear systems with linear temporal logic (LTL) task specifications. Our approach is based on recent advances in stochastic optimization algorithms for optimal trajectory generation. These methods rely on estimation of the rare event of sampling optimal trajectories, which is achieved by incrementally improving a sampling distribution so as to minimize the cross-entropy. A key component of these stochastic optimization algorithms is determining whether or not a trajectory is collision-free. We generalize this collision checking to efficiently verify whether or not a trajectory satisfies a LTL formula. Interestingly, this verification can be done in time polynomial in the length of the LTL formula and the trajectory. We also propose a method for efficiently re-using parts of trajectories that only partially satisfy the specification, instead of simply discarding the entire sample. Our approach is demonstrated through numerical experiments involving Dubins car and a generic point-mass model subject to complex temporal logic task specifications

Sampling-based Algorithms for Optimal Motion Planning

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g., showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e., such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.Comment: 76 pages, 26 figures, to appear in International Journal of Robotics Researc

Endoscopic Removal of an Unusual Foreign Body Causing Gastrointestinal Bleeding

Foreign body ingestion is a condition more common in the pediatric population than in adults. In adults, although foreign body ingestion can be well tolerated, approximately 10-20% of patients require endoscopic intervention. Delayed diagnosis and unremoved foreign bodies can cause serious and fatal complications including perforation, fistula and gastrointestinal bleeding. Here we report a patient with bleeding duodenal ulcer thought to be initiated by a large foreign body

Anisotropic photoconductivity in graphene

We investigate the photoconductivity of graphene within the relaxation time approximation. In presence of the inter-band transitions induced by the linearly polarized light the photoconductivity turns out to be highly anisotropic due to the pseudospin selection rule for Dirac-like carriers. The effect can be observed in clean undoped graphene samples and be utilized for light polarization detection.Comment: 4 pages, 2 figure

In vitro Radioprotective Activity of the Bryozoan Hyalinella punctata

The objective of the present study was in vitro evaluation of radioprotective activity of the freshwater bryozoan Hyalinella punctata on cultured human peripheral blood lymphocytes after irradiation with 2 gy of Co-60 gamma-rays. Since its water extract at concentration 0.001 mg/mL reduced the incidence of radiation-induced micronuclei for almost 30 %, it could be considered as a promising source of new natural products with the aforementined activity. Both the content of sulphur (1.17%) determined by gravimetric method and infrared absorption frequences (76 % similarity with those of bacitracin) of the investigated extract indicate the presence of organic sulphur compound(s) such as cyclic peptides and polypeptides which might be responsible for the observed radioprotectio

Effect of the C/N ratio modification on the corrosion behavior and performance of carbonitride coatings prepared by cathodic arc deposition

This study focuses on investigating carbonitride coatings, specifically CNTi-(Zr, ZrNb, and ZrSi), as promising candidates for enhancing the durability and efficiency of Ti6Al4V materials used in nuclear fusion technology. X-ray diffraction analysis identified distinct phases, including TiN, ZrN, ZrC, and TiC. The corrosion studies showed complete degradation of the TiN, ZrC, and ZrN phases in the TiZrCN coating after tests, while the TiC phase exhibited relative stability. The surface morphologies and elemental mapping analysis demonstrated the loss of homogeneity in element distribution after corrosion process. The addition of Si and Nb elements into TiZrCN significantly influenced the coatings' corrosion behavior, with breakaway corrosion observed in CNTi- (Zr and ZrSi) coatings and localized corrosion in CNTi-(ZrNb) coatings. Notably, the CNTi-(ZrSi) coating formed an oxide phase in the presence of NaCl, whereas the CNTi-(ZrNb) coating exhibited continuous resistance and a low corrosion rate. Irradiation was carried out for the generation of active isotopes, showing that no radioactive isotopes were formed in any of the investigated samples

A Framework for Evaluating Video Object Segmentation Algorithms

Segmentation of moving objects in image sequences plays an important role in video processing and analysis. Evaluating the quality of segmentation results is necessary to allow the appropriate selection of segmentation algorithms and to tune their parameters for optimal performance. Many segmentation algorithms have been proposed along with a number of evaluation criteria. Nevertheless, no psychophysical experiments evaluating the quality of different video object segmentation results have been conducted. In this paper, a generic framework for segmentation quality evaluation is presented. A perceptually driven automatic method for segmentation evaluation is proposed and compared against an existing approach. Moreover, on the basis of subjective results, perceptual factors are introduced into the novel objective metric to meet the specificity of different segmentation applications such as video compression. Experimental results confirm the efficiency of the proposed evaluation criteria