Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time

An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy

Unified model for network dynamics exhibiting nonextensive statistics

We introduce a dynamical network model which unifies a number of network families which are individually known to exhibit $q$-exponential degree distributions. The present model dynamics incorporates static (non-growing) self-organizing networks, preferentially growing networks, and (preferentially) rewiring networks. Further, it exhibits a natural random graph limit. The proposed model generalizes network dynamics to rewiring and growth modes which depend on internal topology as well as on a metric imposed by the space they are embedded in. In all of the networks emerging from the presented model we find q-exponential degree distributions over a large parameter space. We comment on the parameter dependence of the corresponding entropic index q for the degree distributions, and on the behavior of the clustering coefficients and neighboring connectivity distributions.Comment: 11 pages 8 fig

Flowstats: an ontology based network management tool

One of the problems that hinders large scale network management tasks is the number of possible heterogeneous data sources that provide network information and how to focus on a desired network segment without requiring a deep knowledge of the network structure. This work investigates how to intelligently and efficiently refine and manage a vast amount of network monitoring data sources, by using artificial intelligent reasoning through an intuitive user interface. We aim to minimise the user interaction and required user knowledge when searching for the desired network monitoring information by refining the presented information based on user choices. The concept of Ontology is utilised to create a knowledge base of multiple different aspects of our testbed: Internal Management structure, Physical Location of data sources, and network switch meta-data

On-Line Identification of Autonomous Underwater Vehicles through Global Derivative-Free Optimization

We describe the design and implementation of an on-line identification scheme for Autonomous Underwater Vehicles (AUVs). The proposed method estimates the dynamic parameters of the vehicle based on a global derivative-free optimization algorithm. It is not sensitive to initial conditions, unlike other on-line identification schemes, and does not depend on the differentiability of the model with respect to the parameters. The identification scheme consists of three distinct modules: a) System Excitation, b) Metric Calculator and c) Optimization Algorithm. The System Excitation module sends excitation inputs to the vehicle. The Optimization Algorithm module calculates a candidate parameter vector, which is fed to the Metric Calculator module. The Metric Calculator module evaluates the candidate parameter vector, using a metric based on the residual of the actual and the predicted commands. The predicted commands are calculated utilizing the candidate parameter vector and the vehicle state vector, which is available via a complete navigation module. Then, the metric is directly fed back to the Optimization Algorithm module, and it is used to correct the estimated parameter vector. The procedure continues iteratively until the convergence properties are met. The proposed method is generic, demonstrates quick convergence and does not require a linear formulation of the model with respect to the parameter vector. The applicability and performance of the proposed algorithm is experimentally verified using the AUV Girona 500. © 2013 IEEE

A network model for field and quenched disorder effects in artificial spin ice

We have performed a systematic study of the effects of field strength and quenched disorder on the driven dynamics of square artificial spin ice. We construct a network representation of the configurational phase space, where nodes represent the microscopic configurations and a directed link between node i and node j means that the field may induce a transition between the corresponding configurations. In this way, we are able to quantitatively describe how the field and the disorder affect the connectedness of states and the reversibility of dynamics. In particular, we have shown that for optimal field strengths, a substantial fraction of all states can be accessed using external driving fields, and this fraction is increased by disorder. We discuss how this relates to control and potential information storage applications for artificial spin ices

State anxiety influences P300 and P600 event-related potentials over parietal regions in the hollow-mask illusion experiment

The hollow-mask illusion is an optical illusion where a concave face is perceived as convex. It has been demonstrated that individuals with schizophrenia and anxiety are less susceptible to the illusion than controls. Previous research has shown that the P300 and P600 event-related potentials (ERPs) are affected in individuals with schizophrenia. Here, we examined whether individual differences in neuroticism and anxiety scores, traits that have been suggested to be risk factors for schizophrenia and anxiety disorders, affect ERPs of healthy participants while they view concave faces. Our results confirm that the participants were susceptible to the illusion, misperceiving concave faces as convex. We additionally demonstrate significant interactions of the concave condition with state anxiety in central and parietal electrodes for P300 and parietal areas for P600, but not with neuroticism and trait anxiety. The state anxiety interactions were driven by low-state anxiety participants showing lower amplitudes for concave faces compared to convex. The P300 and P600 amplitudes were smaller when a concave face activated a convex face memory representation, since the stimulus did not match the active representation. The opposite pattern was evident in high-state anxiety participants in regard to state anxiety interaction and the hollow-mask illusion, demonstrating larger P300 and P600 amplitudes to concave faces suggesting impaired late information processing in this group. This could be explained by impaired allocation of attentional resources in high-state anxiety leading to hyperarousal to concave faces that are unexpected mismatches to standard memory representations, as opposed to expected convex faces

Negative Symptoms in Early-Onset Psychosis and Their Association With Antipsychotic Treatment Failure.

This is the author accepted manuscript. The final version is available from OUP via the DOI in this recordThe prevalence of negative symptoms (NS) at first episode of early-onset psychosis (EOP), and their effect on psychosis prognosis is unclear. In a sample of 638 children with EOP (aged 10-17 y, 51% male), we assessed (1) the prevalence of NS at first presentation to mental health services and (2) whether NS predicted eventual development of multiple treatment failure (MTF) prior to the age of 18 (defined by initiation of a third trial of novel antipsychotic due to prior insufficient response, intolerable adverse-effects or non-adherence). Data were extracted from the electronic health records held by child inpatient and community-based services in South London, United Kingdom. Natural Language Processing tools were used to measure the presence of Marder Factor NS and antipsychotic use. The association between presenting with ≥2 NS and the development of MTF over a 5-year period was modeled using Cox regression. Out of the 638 children, 37.5% showed ≥2 NS at first presentation, and 124 (19.3%) developed MTF prior to the age of 18. The presence of NS at first episode was significantly associated with MTF (adjusted hazard ratio 1.62, 95% CI 1.07-2.46; P = .02) after controlling for a number of potential confounders including psychosis diagnostic classification, positive symptoms, comorbid depression, and family history of psychosis. Other factors associated with MTF included comorbid autism spectrum disorder, older age at first presentation, Black ethnicity, and family history of psychosis. In EOP, NS at first episode are prevalent and may help identify a subset of children at higher risk of responding poorly to antipsychotics.J.D. received supported by a Medical Research Council (MRC) Clinical Research Training Fellowship (MR/L017105/1) and Psychiatry Research Trust Peggy Pollak Research Fellowship in Developmental Psychiatry. H.D. and S.L. have received salary support from the Foundation of Professional Services to Adolescents, UK. R.D.H. was funded by an MRC Fellowship (MR/J01219X/1). R.P. was funded by an MRC CRTF (MR/K002813/1). C.A., L.P-C., and C.M.D-C. have held grants from the Spanish Ministry of Economy, Industry and Competitiveness. Instituto de Salud Carlos III, co-financed by ERDF Funds from the European Commission, “A way of making Europe,” CIBERSAM, Madrid Regional Government (S2010/BMD-2422 AGES), European Union Structural Funds and European Union Seventh Framework Program under grant agreements FP7-HEALTH-2009-2.2.1-2-241909 (EU-GEI), FP7-HEALTH-2009-2.2.1-3-242114 (OPTiMISE), FP7-HEALTH-2013-2.2.1-2-603196 (PSYSCAN)and FP7- HEALTH-2013-2.2.1-2-602478 (METSY); European Union H2020 Program under the Innovative Medicines Initiative 2 Joint Undertaking (grant agreement No-115916; PRISM); Fundación Alicia Koplowitz and Fundación Mutua Madrileña. M.H., J.H.M. and H.S. receive salary support from the National Institute for Health Research (NIHR) Biomedical Research Centre at South London and Maudsley NHS Foundation Trust and King’s College London. The views expressed are those of the authors and not necessarily those of the NHS, the NIHR or the Department of Health