Improving the Parallel Execution of Behavior Trees

Behavior Trees (BTs) have become a popular framework for designing controllers of autonomous agents in the computer game and in the robotics industry. One of the key advantages of BTs lies in their modularity, where independent modules can be composed to create more complex ones. In the classical formulation of BTs, modules can be composed using one of the three operators: Sequence, Fallback, and Parallel. The Parallel operator is rarely used despite its strong potential against other control architectures as Finite State Machines. This is due to the fact that concurrent actions may lead to unexpected problems similar to the ones experienced in concurrent programming. In this paper, we introduce Concurrent BTs (CBTs) as a generalization of BTs in which we introduce the notions of progress and resource usage. We show how CBTs allow safe concurrent executions of actions and we analyze the approach from a mathematical standpoint. To illustrate the use of CBTs, we provide a set of use cases in robotics scenarios

Anharmonic properties from a generalized third order ab~initio approach: theory and applications to graphite and graphene

We have implemented a generic method, based on the 2n+1 theorem within density functional perturbation theory, to calculate the anharmonic scattering coefficients among three phonons with arbitrary wavevectors. The method is used to study the phonon broadening in graphite and graphene mono- and bi-layer. The broadening of the high-energy optical branches is highly nonuniform and presents a series of sudden steps and spikes. At finite temperature, the two linearly dispersive acoustic branches TA and LA of graphene have nonzero broadening for small wavevectors. The broadening in graphite and bi-layer graphene is, overall, very similar to the graphene one, the most remarkable feature being the broadening of the quasi acoustical ZO' branch. Finally, we study the intrinsic anharmonic contribution to the thermal conductivity of the three systems, within the single mode relaxation time approximation. We find the conductance to be in good agreement with experimental data for the out-of-plane direction but to underestimate it by a factor 2 in-plane

Well-posedness of the Two-dimensional Nonlinear Schr\"odinger Equation with Concentrated Nonlinearity

We consider a two-dimensional nonlinear Schr\"odinger equation with concentrated nonlinearity. In both the focusing and defocusing case we prove local well-posedness, i.e., existence and uniqueness of the solution for short times, as well as energy and mass conservation. In addition, we prove that this implies global existence in the defocusing case, irrespective of the power of the nonlinearity, while in the focusing case blowing-up solutions may arise.Comment: 39 pages, pdfLaTex. Final version to appear in Ann. I. H. Poincar\'e - A

3D numerical modelling of twisting cracks under bending and torsion of skew notched beams

The testing of mode III and mixed mode failure is every so often encountered in the dedicated literature of mechanical characterization of brittle and quasi-brittle materials. In this work, the application of the mixed strain displacement e-ue-u finite element formulation to three examples involving skew notched beams is presented. The use of this FE technology is effective in problems involving localization of strains in softening materials. The objectives of the paper are: (i) to test the mixed formulation in mode III and mixed mode failure and (ii) to present an enhancement in terms of computational time given by the kinematic compatibility between irreducible displacement-based and the mixed strain-displacement elements. Three tests of skew-notched beams are presented: firstly, a three point bending test of a PolyMethyl MethaAcrylate beam; secondly, a torsion test of a plain concrete prismatic beam with square base; finally, a torsion test of a cylindrical beam made of plain concrete as well. To describe the mechanical behavior of the material in the inelastic range, Rankine and Drucker-Prager failure criteria are used in both plasticity and isotropic continuum damage formats. The proposed mixed formulation is capable of yielding results close to the experimental ones in terms of fracture surface, peak load and global loss of carrying capability. In addition, the symmetric secant formulation and the compatibility condition between the standard irreducible method and the strain-displacement one is exploited, resulting in a significant speedup of the computational procedure.Peer ReviewedPostprint (author's final draft

Programmable interactions with biomimetic DNA linkers at fluid membranes and interfaces

At the heart of the structured architecture and complex dynamics of biological systems are specific and timely interactions operated by biomolecules. In many instances, biomolecular agents are spatially confined to flexible lipid membranes where, among other functions, they control cell adhesion, motility and tissue formation. Besides being central to several biological processes, \emph{multivalent interactions} mediated by reactive linkers confined to deformable substrates underpin the design of synthetic-biological platforms and advanced biomimetic materials. Here we review recent advances on the experimental study and theoretical modelling of a heterogeneous class of biomimetic systems in which synthetic linkers mediate multivalent interactions between fluid and deformable colloidal units, including lipid vesicles and emulsion droplets. Linkers are often prepared from synthetic DNA nanostructures, enabling full programmability of the thermodynamic and kinetic properties of their mutual interactions. The coupling of the statistical effects of multivalent interactions with substrate fluidity and deformability gives rise to a rich emerging phenomenology that, in the context of self-assembled soft materials, has been shown to produce exotic phase behaviour, stimuli-responsiveness, and kinetic programmability of the self-assembly process. Applications to (synthetic) biology will also be reviewed.Comment: 63 pages, revie

Flavour violation in supersymmetric SO(10) unification with a type II seesaw mechanism

We study flavour violation in a supersymmetric SO(10) implementation of the type II seesaw mechanism, which provides a predictive realization of triplet leptogenesis. The experimental upper bounds on lepton flavour violating processes have a significant impact on the leptogenesis dynamics, in particular they exclude the strong washout regime. Requiring successful leptogenesis then constrains the otherwise largely unknown overall size of flavour-violating observables, thus yielding testable predictions. In particular, the branching ratio for mu -> e gamma lies within the reach of the MEG experiment if the superpartner spectrum is accessible at the LHC, and the supersymmetric contribution to epsilon_K can account for a significant part of the experimental value. We show that this scenario can be realized in a consistent SO(10) model achieving gauge symmetry breaking and doublet-triplet splitting in agreement with the proton decay bounds, improving on the MSSM prediction for alpha_3(m_Z), and reproducing the measured quark and lepton masses.Comment: 40 pages, 10 figures. Accepted for publication in JHE

Long-Range Communications in Unlicensed Bands: the Rising Stars in the IoT and Smart City Scenarios

Connectivity is probably the most basic building block of the Internet of Things (IoT) paradigm. Up to know, the two main approaches to provide data access to the \emph{things} have been based either on multi-hop mesh networks using short-range communication technologies in the unlicensed spectrum, or on long-range, legacy cellular technologies, mainly 2G/GSM, operating in the corresponding licensed frequency bands. Recently, these reference models have been challenged by a new type of wireless connectivity, characterized by low-rate, long-range transmission technologies in the unlicensed sub-GHz frequency bands, used to realize access networks with star topology which are referred to a \emph{Low-Power Wide Area Networks} (LPWANs). In this paper, we introduce this new approach to provide connectivity in the IoT scenario, discussing its advantages over the established paradigms in terms of efficiency, effectiveness, and architectural design, in particular for the typical Smart Cities applications

Ab initio variational approach for evaluating lattice thermal conductivity

We present a first-principles theoretical approach for evaluating the lattice thermal conductivity based on the exact solution of the Boltzmann transport equation. We use the variational principle and the conjugate gradient scheme, which provide us with an algorithm faster than the one previously used in literature and able to always converge to the exact solution. Three-phonon normal and umklapp collision, isotope scattering and border effects are rigorously treated in the calculation. Good agreement with experimental data for diamond is found. Moreover we show that by growing more enriched diamond samples it is possible to achieve values of thermal conductivity up to three times larger than the commonly observed in isotopically enriched diamond samples with 99.93% C12 and 0.07 C13