MPPI-IPDDP: Hybrid Method of Collision-Free Smooth Trajectory Generation for Autonomous Robots

This study presents a hybrid trajectory optimization method that generates a collision-free smooth trajectory for autonomous mobile robots. The hybrid method combines sampling-based model predictive path integral (MPPI) control and gradient-based interior-point differential dynamic programming (IPDDP) exploiting their advantages of exploration and smoothing. The proposed method, called MPPI-IPDDP, consists of three steps. The first step generates a coarse trajectory by MPPI control, the second step constructs a collision-free convex corridor, and the third step smooths the coarse trajectory by IPDDP using the collision-free convex corridor computed in the second step. For demonstration, the proposed algorithm was applied to trajectory optimization for differential-driving wheeled mobile robots and point-mass quadrotors. A supplementary video of the simulations can be found at https://youtu.be/-oUAt5sd9Bk

Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic Perspectives

This paper presents a tutorial overview of path integral (PI) control approaches for stochastic optimal control and trajectory optimization. We concisely summarize the theoretical development of path integral control to compute a solution for stochastic optimal control and provide algorithmic descriptions of the cross-entropy (CE) method, an open-loop controller using the receding horizon scheme known as the model predictive path integral (MPPI), and a parameterized state feedback controller based on the path integral control theory. We discuss policy search methods based on path integral control, efficient and stable sampling strategies, extensions to multi-agent decision-making, and MPPI for the trajectory optimization on manifolds. For tutorial demonstrations, some PI-based controllers are implemented in MATLAB and ROS2/Gazebo simulations for trajectory optimization. The simulation frameworks and source codes are publicly available at https://github.com/INHA-Autonomous-Systems-Laboratory-ASL/An-Overview-on-Recent-Advances-in-Path-Integral-Control.Comment: 16 pages, 9 figure

Customer process management A framework for using customer-related data to create customer value

Purpose The proliferation of customer-related data provides companies with numerous service opportunities to create customer value. The purpose of this study is to develop a framework to use this data to provide services. Design/methodology/approach This study conducted four action research projects on the use of customer-related data for service design with industry and government. Based on these projects, a practical framework was designed, applied, and validated, and was further refined by analyzing relevant service cases and incorporating the service and operations management literature. Findings The proposed customer process management (CPM) framework suggests steps a service provider can take when providing information to its customers to improve their processes and create more value-in-use by using data related to their processes. The applicability of this framework is illustrated using real examples from the action research projects and relevant literature. Originality/value "Using data to advance service" is a critical and timely research topic in the service literature. This study develops an original, specific framework for a company's use of customer-related data to advance its services and create customer value. Moreover, the four projects with industry and government are early CPM case studies with real data

Insight into highly conserved H1 subtype-specific epitopes in influenza virus hemagglutinin

Influenza viruses continuously undergo antigenic changes with gradual accumulation of mutations in hemagglutinin (HA) that is a major determinant in subtype specificity. The identification of conserved epitopes within specific HA subtypes gives an important clue for developing new vaccines and diagnostics. We produced and characterized nine monoclonal antibodies that showed significant neutralizing activities against H1 subtype influenza viruses, and determined the complex structure of HA derived from a 2009 pandemic virus A/Korea/01/2009 (KR01) and the Fab fragment from H1-specific monoclonal antibody GC0587. The overall structure of the complex was essentially identical to the previously determined KR01 HA-Fab0757 complex structure. Both Fab0587 and Fab0757 recognize readily accessible head regions of HA, revealing broadly shared and conserved antigenic determinants among H1 subtypes. The beta-strands constituted by Ser110-Glu115 and Lys169-Lys170 form H1 epitopes with distinct conformations from those of H1 and H3 HA sites. In particular, Glu112, Glu115, Lys169, and Lys171 that are highly conserved among H1 subtype HAs have close contacts with HCDR3 and LCDR3. The differences between Fab0587 and Fab0757 complexes reside mainly in HCDR3 and LCDR3, providing distinct antigenic determinants specific for 1918 pdm influenza strain. Our results demonstrate a potential key neutralizing epitope important for H1 subtype specificity in influenza virus

Sink-Independent Model in Wireless Sensor Networks

Wireless sensor networks generally support users that send queries and receive data via the sinks. The user and the sinks are mostly connected to each other by infrastructure networks. The users, however, should receive the data from the sinks through multi-hop communications between disseminating sensor nodes if such users move into the sensor networks without infrastructure networks. To support mobile users, previous work has studied various user mobility models. Nevertheless, such approaches are not compatible with the existing routing algorithms, and it is difficult for the mobile users to gather data efficiently due to their mobility. To improve the shortcomings, we propose a view of mobility for wireless sensor networks and propose a model to support a user mobility that is independent of sinks

RELATIONSHIP BETWEEN THE BALL VELOCITY AND UPPER EXTREMITY KINEMATICS DURING AN OVERARM THROWING SELF-PRACTICE PROGRAM

The purpose of this study was to investigate the relationship between the ball velocity and upper extremity kinematics in inexperienced individuals during a 5 weeks selfpractice overarm throwing. Seven women participated in this study. Participants performed 15 overarm throwing 3 days in a week for 5 weeks. The relationship between the ball velocity and the first-last week overarm throwing upper extremity kinematics data (maximum angles and angular velocities) were statistically analyzed using Spearman’s rho. Results showed there was weak to moderate relationship for both maximum angles and angular velocities of trunk, shoulder, and elbow. Rotational movements of upper extremities should be prioritized at the early stages of throwing skills acquisitions