Landmark Guided Probabilistic Roadmap Queries

A landmark based heuristic is investigated for reducing query phase run-time of the probabilistic roadmap (\PRM) motion planning method. The heuristic is generated by storing minimum spanning trees from a small number of vertices within the \PRM graph and using these trees to approximate the cost of a shortest path between any two vertices of the graph. The intermediate step of preprocessing the graph increases the time and memory requirements of the classical motion planning technique in exchange for speeding up individual queries making the method advantageous in multi-query applications. This paper investigates these trade-offs on \PRM graphs constructed in randomized environments as well as a practical manipulator simulation.We conclude that the method is preferable to Dijkstra's algorithm or the ${\rm A}^*$ algorithm with conventional heuristics in multi-query applications.Comment: 7 Page

Model predictive trajectory optimization and tracking for on-road autonomous vehicles

Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In this paper, a control scheme is presented which first optimizes a planned trajectory and then tracks the optimized trajectory using a feedback-feedforward controller. The feedforward element is calculated in a model predictive manner with a cost function focusing on driving performance. Stability of the error dynamic is then guaranteed by the design of the feedback-feedforward controller. The tracking performance of the control system is tested in a realistic simulated scenario where the control system must track an evasive lateral maneuver. The proposed controller performs well in simulation and can be easily adapted to different dynamic vehicle models. The uniqueness of the solution to the control synthesis eliminates any nondeterminism that could arise with switching between numerical solvers for the underlying mathematical program.Comment: 6 pages, 7 figure

Which history and physical findings are most useful in identifying rotator cuff tears?

It's unknown which -- if any -- historical factors are most useful, because no studies evaluating their accuracy with rotator cuff tears have been done. As for physical findings, no single physical examination finding is sensitive or specific enough to detect partial-thickness rotator cuff tears (strength of recommendation [SOR]: B, systematic review of lower-quality cohort studies)

Identification of Alternative Transcripts Encoding the Essential Murine Gammaherpesvirus Lytic Transactivator RTA

The essential immediate early transcriptional activator RTA, encoded by gene 50, is conserved among all characterized gammaherpesviruses. Analyses of a recombinant murine gammaherpesvirus 68 (MHV68) lacking both of the known gene 50 promoters (G50DblKo) revealed that this mutant retained the ability to replicate in the simian kidney epithelial cell line Vero but not in permissive murine fibroblasts following low-multiplicity infection. However, G50DblKo replication in permissive fibroblasts was partially rescued by high-multiplicity infection. In addition, replication of the G50DblKo virus was rescued by growth on mouse embryonic fibroblasts (MEFs) isolated from IFN-α/βR(−/−) mice, while growth on Vero cells was suppressed by the addition of alpha interferon (IFN-α). 5′ rapid amplification of cDNA ends (RACE) analyses of RNAs prepared from G50DblKo and wild-type MHV68-infected murine macrophages identified three novel gene 50 transcripts initiating from 2 transcription initiation sites located upstream of the currently defined proximal and distal gene 50 promoters. In transient promoter assays, neither of the newly identified gene 50 promoters exhibited sensitivity to IFN-α treatment. Furthermore, in a single-step growth analysis RTA levels were higher at early times postinfection with the G50DblKo mutant than with wild-type virus but ultimately fell below the levels of RTA expressed by wild-type virus at later times in infection. Infection of mice with the MHV68 G50DblKo virus demonstrated that this mutant virus was able to establish latency in the spleen and peritoneal exudate cells (PECs) of C57BL/6 mice with about 1/10 the efficiency of wild-type virus or marker rescue virus. However, despite the ability to establish latency, the G50DblKo virus mutant was severely impaired in its ability to reactivate from either latently infected splenocytes or PECs. Consistent with the ability to rescue replication of the G50DblKo mutant by growth on type I interferon receptor null MEFs, infection of IFN-α/βR(−/−) mice with the G50DblKo mutant virus demonstrated partial rescue of (i) acute virus replication in the lungs, (ii) establishment of latency, and (iii) reactivation from latency. The identification of additional gene 50/RTA transcripts highlights the complex mechanisms involved in controlling expression of RTA, likely reflecting time-dependent and/or cell-specific roles of different gene 50 promoters in controlling virus replication. Furthermore, the newly identified gene 50 transcripts may also act as negative regulators that modulate RTA expression. IMPORTANCE The viral transcription factor RTA, encoded by open reading frame 50 (Orf50), is well conserved among all known gammaherpesviruses and is essential for both virus replication and reactivation from latently infected cells. Previous studies have shown that regulation of gene 50 transcription is complex. The studies reported here describe the presence of additional alternatively initiated, spliced transcripts that encode RTA. Understanding how expression of this essential viral gene product is regulated may identify new strategies for interfering with infection in the setting of gammaherpesvirus-induced diseases