CVT-based 2D motion planning with maximal clearance

Maximal clearance is an important property that is highly desirable in multi-agent motion planning. However, it is also inherently difficult to attain. We propose a novel approach to achieve maximal clearance by exploiting the ability of evenly distributing a set of points by a centroidal Voronoi tessellation (CVT). We adapt the CVT framework to multi-agent motion planning by adding an extra time dimension and optimize the trajectories of the agents in the augmented domain. As an optimization framework, our method can work naturally on complex regions. We demonstrate the effectiveness of our algorithm in achieving maximal clearance in motion planning with some examples.published_or_final_versionThe 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 9-13 May 2011. In Proceedings of the IEEE-ICRA, 2011, p. 2281-228

Planar hexagonal meshing for architecture

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Essential Role of NK Cells in IgG Therapy for Experimental Autoimmune Encephalomyelitis

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Water-induced degradation in lead zirconate titanate piezoelectric ceramics

2001-2002 > Academic research: refereed > Publication in refereed journalVersion of RecordPublishe

Content-aware photo collage using circle packing

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Quenching and reactivation of electroluminescence by charge trapping and detrapping in Si-implanted silicon nitride thin film

In this brief, quenching of electroluminescence (EL) from Si-implanted silicon nitride (SNR) thin film under a forward bias has been observed. The quenching phenomenon is shown to be due to charge trapping in the defect states involved in the radiative recombination. The composite EL bands have different quenching rates, causing a change in the EL spectrum shape by the EL quenching. Release of the trapped charges by a low-temperature annealing at 120 °C or an application of a reverse gate bias can partially recover the quenched EL both in the intensity and spectrum shape. The quenching phenomenon poses a serious challenge to the application of Si-implanted SNR thin films in light-emitting devices. © 2009 IEEE.published_or_final_versio

Evolution of electroluminescence from multiple Si-implanted silicon nitride films with thermal annealing

Influence of thermal annealing on electroluminescence (EL) from multiple-Si-implanted silicon nitride films has been investigated. A reduced injection current and an enhanced EL intensity have been obtained simultaneously by increasing the annealing temperature, which results in a higher EL quantum efficiency. In addition, four emission bands are identified, and their peak energies, intensities, and full widths at half maxima are found to change with annealing temperature. A model is proposed to illustrate the carrier transport, the mechanisms of the four emission bands, and the evolution of the EL bands with annealing as well. The two major bands and the minor ultraviolet band are explained in terms of the recombination of the injected electrons in either the silicon dangling-bond (≡ Si 0) states or the nitride conduction band with the injected holes in either the band tail states above the nitride valence band or the valence band itself, while the minor near infrared band is attributed to the Si nanocrystals formed in the thin film. © 2009 American Institute of Physics.published_or_final_versio

Effect of isospin dependent cross-section on fragment production in the collision of charge asymmetric nuclei

To understand the role of isospin effects on fragmentation due to the collisions of charge asymmetric nuclei, we have performed a complete systematical study using isospin dependent quantum molecular dynamics model. Here simulations have been carried out for $^{124}X_{n}+ ^{124}X_{n}$, where n varies from 47 to 59 and for $^{40}Y_{m}+ ^{40}Y_{m}$, where m varies from 14 to 23. Our study shows that isospin dependent cross-section shows its influence on fragmentation in the collision of neutron rich nuclei

Discovery of an X-ray Emitting Contact Binary System 2MASS J11201034-2201340

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Coalescent-based genome analyses resolve the early branches of the euarchontoglires

Despite numerous large-scale phylogenomic studies, certain parts of the mammalian tree are extraordinarily difficult to resolve. We used the coding regions from 19 completely sequenced genomes to study the relationships within the super-clade Euarchontoglires (Primates, Rodentia, Lagomorpha, Dermoptera and Scandentia) because the placement of Scandentia within this clade is controversial. The difficulty in resolving this issue is due to the short time spans between the early divergences of Euarchontoglires, which may cause incongruent gene trees. The conflict in the data can be depicted by network analyses and the contentious relationships are best reconstructed by coalescent-based analyses. This method is expected to be superior to analyses of concatenated data in reconstructing a species tree from numerous gene trees. The total concatenated dataset used to study the relationships in this group comprises 5,875 protein-coding genes (9,799,170 nucleotides) from all orders except Dermoptera (flying lemurs). Reconstruction of the species tree from 1,006 gene trees using coalescent models placed Scandentia as sister group to the primates, which is in agreement with maximum likelihood analyses of concatenated nucleotide sequence data. Additionally, both analytical approaches favoured the Tarsier to be sister taxon to Anthropoidea, thus belonging to the Haplorrhine clade. When divergence times are short such as in radiations over periods of a few million years, even genome scale analyses struggle to resolve phylogenetic relationships. On these short branches processes such as incomplete lineage sorting and possibly hybridization occur and make it preferable to base phylogenomic analyses on coalescent methods