Learning to Race through Coordinate Descent Bayesian Optimisation

In the automation of many kinds of processes, the observable outcome can often be described as the combined effect of an entire sequence of actions, or controls, applied throughout its execution. In these cases, strategies to optimise control policies for individual stages of the process might not be applicable, and instead the whole policy might have to be optimised at once. On the other hand, the cost to evaluate the policy's performance might also be high, being desirable that a solution can be found with as few interactions as possible with the real system. We consider the problem of optimising control policies to allow a robot to complete a given race track within a minimum amount of time. We assume that the robot has no prior information about the track or its own dynamical model, just an initial valid driving example. Localisation is only applied to monitor the robot and to provide an indication of its position along the track's centre axis. We propose a method for finding a policy that minimises the time per lap while keeping the vehicle on the track using a Bayesian optimisation (BO) approach over a reproducing kernel Hilbert space. We apply an algorithm to search more efficiently over high-dimensional policy-parameter spaces with BO, by iterating over each dimension individually, in a sequential coordinate descent-like scheme. Experiments demonstrate the performance of the algorithm against other methods in a simulated car racing environment.Comment: Accepted as conference paper for the 2018 IEEE International Conference on Robotics and Automation (ICRA

First reports of computed tomographic colonography for the screening of colorectal polyps in acromegalic patients

*Aim:* To analyze the CTC performance for the screening of colorectal polyps in acromegalic patients. 

*Materials and Methods:* A prospective study of 21 acromegalic patients, 12 male and 9 female, average age 49, who underwent CTC and CC. CTC was performed with a GE Helical Multislice Computed Tomography Apparatus. The colonoscopy was performed, in the same day, without previous knowledge of the CTC diagnostics. The study evaluated the capacity of CTC to detect patients with colorectal polyps and identify each colorectal lesion described by CC. 

*Results:* In two patients (2/21), CC was incomplete. However, in all patients CTC was complete. In Phase I (“Per Patient”), CTC diagnosed 8 of the 9 patients with colorectal polyps and showed 88% sensitivity, 75% specificity and 81% accuracy. In Phase II (“Per Polyp”), out of the 21 acromegalic patients included in this study, 12 presented normal findings at CC. A total of 19 polyps were identified in 9 patients. 10 of the 19 polyps were smaller than 10 mm, and 9 were equal to or larger than 10. CTC identified 7 of the 9 polyps ≥ 10 mm described by CC and only 6 of the 10 small polyps identified at CC were detected by CTC. The histological analysis of resected lesions revealed 12 tubular adenomas, 6 hyperplastic polyps and 1 colonic tubulo-villous adenoma with an adenocarcinoma focus. 

*Conclusion:* In this study, CTC was performed without complications and a complete and safe colorectal evaluation was possible in all acromegalic patients. Moreover, CTC showed good sensitivity to identify acromegalic patients with colorectal polyps

Polymer induced condensation of dna supercoils

Macromolecular crowding is thought to be a significant factor driving DNA condensation in prokaryotic cells. Whereas DNA in prokaryotes is supercoiled, studies on crowding-induced DNA condensation have so far focused on linear DNA. Here we compare DNA condensation by poly(ethylene oxide) for supercoiled and linearized pUC18 plasmid DNA. It is found that supercoiling has only a limited influence on the critical amount of PEO needed to condense plasmid DNA. In order to pack DNA supercoils in condensates, it seems inevitable that they must be deformed in one way or another, to facilitate dense packing of DNA. Analytical estimates and Monte Carlo simulations indicate that packing of DNA supercoils in condensates is most likely facilitated by a decrease of the superhelical diameter rather than by unwinding of the supercoil

Testing Photovoltaic Pavers for Roadway Applications

Concrete and asphalt are the primary materials used to construct roadways for motor vehicles, bike paths for pedestrians and bicyclists, and runways for aircraft. Solar Roadways®, Inc. (SR) in Sandpoint, ID, proposed using robust, Solar Road Panels (SRPs) as an alternative roadway material due to the potential for creating a modular, multi-functional infrastructure product with cost-savings, user-safety, power-generation, and a better alternative in terms of environmental sustainability when compared to contemporary pavement materials. Typical roadway construction materials, on average, need to be replaced every 10-15 years while also requiring regular annual maintenance to maintain proper safety standards. SR’s novel roadway material is intended to extend roadway replacement timelines, lower annual maintenance costs, and provide energy to the power grid. In this study, we tested the mechanical properties of the “SR3” model prototype SRP and evaluated its suitability as a replacement roadway material with the added benefit of generating electric power. Specifically, we tested this unique pavement material in submerged water environments, under extreme temperature conditions, and under dynamic loading conditions

Device and method to enhance availability of cluster-based processing systems

An electronic computing device including at least one processing unit that implements a specific fault signal upon experiencing an associated fault, a control unit that generates a specific recovery signal upon receiving the fault signal from the at least one processing unit, and at least one input memory unit. The recovery signal initiates specific recovery processes in the at least one processing unit. The input memory buffers input data signals input to the at least one processing unit that experienced the fault during the recovery period

Improved methods for detection of β-galactosidase (lacZ) activity in hard tissue

The ß-galactosidase gene (lacZ) of Escherichia coli is widely used as a reporter gene. The expression of lacZ can be detected by enzyme-based histochemical staining using chromogenic substrates such as 5-bromo-4-chloro-3-indolyl-ß-D: -galactoside (X-gal). Because the enzymatic activity of lacZ is vulnerable to high temperatures and acid treatment for demineralization, detection of lacZ on paraffinized sections is difficult, especially for hard tissues, which require demineralization before sectioning in paraffin. To circumvent this problem, whole-mount X-gal staining before sectioning is performed. However, detection of lacZ activity in the center of larger portions of hard whole adult tissues is challenging. In this study, focusing on fixation procedures, we determined the conditions conducive to improved detection of lacZ activity in deeper areas of whole tissues. We used an annexin a5 (Anxa5)-lacZ reporter mouse model in which the Anxa5 expression in hard tissue is indicated by lacZ activity. We found that lacZ activity could be detected throughout the periodontal ligament of adult mice when fixed in 100% acetone, whereas it was not detected in the periodontal ligament around the root apex fixed in glutaraldehyde and paraformaldehyde. This staining could not be detected in wild-type mice. Acetone maintains the lacZ activity within 48 h of fixation at both 4°C and at room temperature. In conclusion, acetone is the optimal fixative to improve permeability for staining of lacZ activity in large volumes of adult hard tissues

Patrones de comportamiento y alimentación del mono aullador Alouatta belzebul en zonas de selva talada y sin talar del este de la Amazonia

This work compared the activity patterns and diet of a group of Alouatta belzebul in areas of logged and unlogged forest in eastern Amazonia. An instantaneous scan sampling procedure was used for the behavioral study (9.3 ± 1.9 complete observation days/month) from February to November 2000. Fruit availability was estimated monthly. Activity budgets were not significantly different between sites. Rest was the predominant activity in both sites (53.6 % and 48.7 %, respectively). Average daily path length was 683.5 ± 215.1 m (n = 93), and the home range was 17.8 ha, including 7 ha in unlogged forest and 10.8 ha in the logged forest. Neither fruit availability nor diet varied significantly between sites. The diet was predominantly folivorous (43.4 % and 46.6 % in unlogged and logged forest, respectively) and frugivorous (43.9 % and 42.8 %). The spatial use by the group was positively related to fruit sources. This study documented the ability of a ranging group of A. belzebul to survive in a habitat influenced by reduced impact logging without dramatically influencing its activity patterns and diet.En este trabajo se comparan los patrones de comportamiento y alimentación de un grupo de Alouatta belzebul en zonas de selva deforestada y sin deforestar del este de la Amazonia. Para el estudio del comportamiento se utilizó un muestreo de barrido temporal instantáneo (observación completa durante 9,3 ± 1,9 meses/días) entre los meses de febrero y noviembre de 2000. La disponibilidad de fruta se calculó mensualmente. Las actividades realizadas no fueron significativamente diferentes en ninguna de las dos ubicaciones. El descanso fue la actividad predominante en ambas, 53,6 % y 48.7 % respectivamente. La media de la longitud de los recorridos diarios era de 683,5 ± 215,1 m (n = 93) y el área de acción era de de 17,8 hectáreas, incluyendo 7 hectáreas de selva sin talar y 10,8 hectáreas de bosques talados. Ni la disponibilidad de fruta ni la dieta variaron significativamente entre las zonas. La dieta era eminentemente folívora (43,4 % y 46,6 % en las zonas de selva sin talar y deforestada, respectivamente) y frugívora (43,9 % y 42,8 %). El uso que el grupo hacía del espacio estaba relacionado de manera positiva con las fuentes de suministro de frutas. En este estudio se ha documentado la habilidad de un grupo de A. belzebul en libertad para sobrevivir en un hábitat afectado por una tala de impacto reducido sin que ello afectase dramáticamente a sus patrones de comportamiento y alimentación

Electron paramagnetic resonance study of .pi. system interaction in dithiin derivatives

The anion radical of tetracyanodithiin (I) is shown to be a divalent sulfur system in which d-orbital participation in conjugation is negligible. The g value (2.0024) indicates that spin-orbit coupling is very small, and a molecular =ode1 shows that direct A-A overlap of the ethylene moieties is probable. Other S-containing cation and anion systems are compared, including 2,5-diphenyldithiin (IV) and tetracyanothiophene (VI). Large cation g value deviations and small anion deviations of S heterocycles are contrasted with hydrocarbon