Hybrid Path Planning Incorporating Global and Local Search for Mobile Robot

[[abstract]]This paper proposes a hybrid path planning algorithm incorporating a global and local search mechanism for mobile robot. The global path planning is based on Voronoi graph to establish a backbone path for the map with significantly reduced nodes for the original grid map. With the use of the backbone path, the D* algorithm is adopted to determine a shortest path between the starting and end points. Taking advantages of the D* algorithm and Voronoi graph, the proposed hybrid path planning algorithm is capable of obtaining a desired path for the mobile robot, overcoming the efficiency problem while maintaining maximum safety distance from the obstacles when the mobile robot navigates in the environment.[[sponsorship]]University of Bristol[[conferencetype]]國際[[conferencedate]]20120820~20120825[[booktype]]電子版[[iscallforpapers]]Y[[conferencelocation]]Bristol, England, United Kingdo

Tailoring excitonic states of van der Waals bilayers through stacking configuration, band alignment and valley-spin

Excitons in monolayer semiconductors have large optical transition dipole for strong coupling with light field. Interlayer excitons in heterobilayers, with layer separation of electron and hole components, feature large electric dipole that enables strong coupling with electric field and exciton-exciton interaction, at the cost that the optical dipole is substantially quenched (by several orders of magnitude). In this letter, we demonstrate the ability to create a new class of excitons in transition metal dichalcogenide (TMD) hetero- and homo-bilayers that combines the advantages of monolayer- and interlayer-excitons, i.e. featuring both large optical dipole and large electric dipole. These excitons consist of an electron that is well confined in an individual layer, and a hole that is well extended in both layers, realized here through the carrier-species specific layer-hybridization controlled through the interplay of rotational, translational, band offset, and valley-spin degrees of freedom. We observe different species of such layer-hybridized valley excitons in different heterobilayer and homobilayer systems, which can be utilized for realizing strongly interacting excitonic/polaritonic gases, as well as optical quantum coherent controls of bidirectional interlayer carrier transfer either with upper conversion or down conversion in energy

Prostatic Relaxation Induced by Loperamide Is Reduced in Spontaneously Hypertensive Rats

This paper shows a new finding about the decrease of relaxative response to loperamide in prostate of spontaneously hypertensive rats (SHR) as compare to normal rats (WKY). Authors demonstrated the reduction of ATP-sensitive potassium channels is resposible for this change using immunoblotting analysis and the decrease of action induced by diazoxide. This view is not mentioned before and is the first one reporting this result

Hybrid shrinking projection method for a generalized equilibrium problem, a maximal monotone operator and a countable family of relatively nonexpansive mappings

AbstractThe purpose of this paper is to introduce and consider a hybrid shrinking projection method for finding a common element of the set EP of solutions of a generalized equilibrium problem, the set ⋂n=0∞F(Sn) of common fixed points of a countable family of relatively nonexpansive mappings {Sn}n=0∞ and the set T−10 of zeros of a maximal monotone operator T in a uniformly smooth and uniformly convex Banach space. It is proven that under appropriate conditions, the sequence generated by the hybrid shrinking projection method, converges strongly to some point in EP∩T−10∩(⋂n=0∞F(Sn)). This new result represents the improvement, complement and development of the previously known ones in the literature

Hyperthyroidism-Associated Insulin Resistance Is Not Mediated by Adiponectin Levels

To evaluate the relationship between circulating adiponectin and insulin sensitivity in patients with hyperthyroid Graves' disease, we studied 19 adult patients with this disease and 19 age- and sex-matched euthyroid controls. All hyperthyroid patients were treated with antithyroid drugs and were re-evaluated after thyroid function normalized. Before antithyroid treatment, the adiponectin plasma concentrations were not different comparing with those in control group. The adiponectin levels remained unchanged after treatment. The homeostasis model assessment of insulin resistance (HOMA-IR) in hyperthyroid group was higher before treatment than after treatment. There was no significant difference in serum glucose and insulin levels between hyperthyroid and control groups and in the hyperthyroid group before and after treatment. BMI-adjusted adiponectin levels were not different among three groups. On the other hand, BMI-adjusted insulin levels and HOMA-IR values were significantly decreased after management of hyperthyroidism. Pearson's correlation revealed that insulin and HOMA-IR values positively correlated with triiodothyronine (T3) and free thyroxine (FT4) levels. However, adiponectin did not correlate with T3, FT4, insulin, HOMA-IR and thyrotropin receptor autoantibody (TRAb) levels. In conclusion, insulin resistance associated with hyperthyroidism is not mediated by the levels of plasma adiponectin

Fractographic analysis of fractured dental implant components

AbstractBackground/purposeThis study investigated in seven patients the main causes of accidental fractures of various implant components.Materials and methodsWe used a scanning electron microscope and transmission electron microscope to observe the fracture interfaces of four fixtures, six abutment screws, and nine gold screws retrieved from patients with prosthetic problems.ResultsIn all fixtures and some abutment screws, parafunctional force and a cantilever design ultimately resulted in movement of low-angle grain boundaries (LAGBs) at most fracture surfaces. Fractographic observations showed that overloading deformed the grain sizes, and the no precipitates were present on the high-angle grain boundaries (HAGBs) or matrices of some abutment screws and most gold screws.ConclusionTo avoid implant fracture, certain underlying mechanical risk factors should be noted such as patients with a habit of bruxism, bridgework with a cantilever design, or two implants installed in a line in the posterior mandible