Model Predictive Planning: Towards Real-Time Multi-Trajectory Planning Around Obstacles

This paper presents a motion planning scheme we call Model Predictive Planning (MPP), designed to optimize trajectories through obstacle-laden environments. The approach involves path planning, trajectory refinement through the solution of a quadratic program, and real-time selection of optimal trajectories. The paper highlights three technical innovations: a raytracing-based path-to-trajectory refinement, the integration of this technique with a multi-path planner to overcome difficulties due to local minima, and a method to achieve timescale separation in trajectory optimization. The scheme is demonstrated through simulations on a 2D longitudinal aircraft model and shows strong obstacle avoidance performance

Marjolin\u27s Tumor Complicating Chronic Periprosthetic Infection of a Total Knee Arthroplasty

Marjolin\u27s tumor is a term used to describe a malignancy developing in the setting of a chronic wound, infection, or other tissue subject to chronic inflammatory changes. These malignancies usually present after many years of chronicity, and can range from lower grade basal cell carcinomas to high-grade sarcomas. We present the case of a squamous cell carcinoma that developed within a chronic periprosthetic infection of a total knee arthroplasty of 7 years duration. The intra-articular location, association with an orthopaedic implant, and brief latency period are all unique features of this case

Measurement of CP asymmetry in D 0 → K - K + and D 0 → π - π decays

Time-integrated CP asymmetries in D 0 decays to the final states K - K + and π - π + are measured using proton-proton collisions corresponding to 3fb-1 of integrated luminosity collected at centre-of-mass energies of 7 TeV and 8 TeV. The D 0 mesons are produced in semileptonic b-hadron decays, where the charge of the accompanying muon is used to determine the initial flavour of the charm meson. The difference in CP asymmetries between the two final states is measured to be Δ ACP = ACP (K- K +) ACP (π- π+) = (+ 0.14 ± 0.16 (stat) ± 0.08 (syst)) %. A measurement of A CP (K - K +) is obtained assuming negligible CP violation in charm mixing and in Cabibbo-favoured D decays. It is found to be ACP (K- K+) = (- 0.06 ± 0.15 (stat) ± 0.10 (syst)) %, where the correlation coefficient between ΔA CP and A CP (K - K +) is ρ = 0.28. By combining these results, the CP asymmetry in the D 0 → π - π + channel is A CP (π - π +) = (-0.20 ± 0.19 (stat) ± 0.10 (syst))%

Measurement of the Xi(-)(b) and Omega(-)(b) baryon lifetimes

Using a data sample of pp collisions corresponding to an integrated luminosity of 3 fb−1, the Ξ−b and Ω−b baryons are reconstructed in the Ξ−b → J/ψΞ− and Ω−b → J/ψΩ− decay modes and their lifetimes measured to be τ(Ξ−b) = 1.55+0.10−0.09 (stat) ± 0.03 (syst) ps, τ(Ω−b) = 1.54+0.26−0.21 (stat) ± 0.05 (syst) ps. These are the most precise determinations to date. Both measurements are in good agreement with previous experimental results and with theoretical predictions

Measurement of the resonant and CP components in B¯ 0 → J=ψπþπ− decays

The resonant structure of the reaction B¯0→J/ψπ+π− is studied using data from 3  fb−1 of integrated luminosity collected by the LHCb experiment, one third at 7 TeV center-of-mass energy and the remainder at 8 TeV. The invariant mass of the π+π− pair and three decay angular distributions are used to determine the fractions of the resonant and nonresonant components. Six interfering π+π− states, ρ(770), f0(500), f2(1270), ρ(1450), ω(782) and ρ(1700), are required to give a good description of invariant mass spectra and decay angular distributions. The positive and negative charge parity fractions of each of the resonant final states are determined. The f0(980) meson is not seen and the upper limit on its presence, compared with the observed f0(500) rate, is inconsistent with a model where these scalar mesons are formed from two quarks and two antiquarks (tetraquarks) at the eight standard deviation level. In the qq¯ model, the absolute value of the mixing angle between the f0(980) and the f0(500) scalar mesons is limited to be less than 17° at 90% confidence level

Effective lifetime measurements in the B-s(0) -> K+K-, B-0 -> K+pi(-) and B-s(0) -> pi K-+(-) decays

Measurements of the effective lifetimes in the View the MathML source, B0→K+π− and View the MathML source decays are presented using 1.0 fb−1 of pp collision data collected at a centre-of-mass energy of 7 TeV by the LHCb experiment. The analysis uses a data-driven approach to correct for the decay time acceptance. This is the most precise determination to date of the effective lifetime in the View the MathML source decay and provides constraints on contributions from physics beyond the Standard Model to the View the MathML source mixing phase and the width difference ΔΓs

Measurement of ψ(2S) polarisation in pp collisions at √s = 7 TeV

The polarisation of prompt ψ(2S) mesons is measured by performing an angular analysis of ψ(2S) → μ+μ- decays using proton-proton collision data, corresponding to an integrated luminosity of 1.0 fb-1, collected by the LHCb detector at a centre-of-mass energy of 7 TeV. The polarisation is measured in bins of transverse momentum pT and rapidity y in the kinematic region 3.5 < pT < 15 GeV/c and 2.0 < y < 4.5, and is compared to theoretical models. No significant polarisation is observed

Measurement of the CP-violating phase phi(s) in (B)over-bar(s)(0) -> J / psi pi(+)pi(-) decays

The mixing-induced CP -violating phase ϕs in View the MathML source and View the MathML source decays is measured using the J/ψπ+π− final state in data, taken from 3 fb−1 of integrated luminosity, collected with the LHCb detector in 7 and 8 TeV centre-of-mass pp collisions at the LHC. A time-dependent flavour-tagged amplitude analysis, allowing for direct CP violation, yields a value for the phase ϕs=70±68±8 mrad. This result is consistent with the Standard Model expectation and previous measurements

Study of beauty hadron decays into pairs of charm hadrons

First observations of the decays Λb 0 → Λc +D(s) - are reported using data corresponding to an integrated luminosity of 3fb-1 collected at 7 and 8 TeV center-of-mass energies in proton-proton collisions with the LHCb detector. In addition, the most precise measurement of the branching fraction B(Bs 0→D+Ds -) is made and a search is performed for the decays B(s) 0→Λc +Λc -. The results obtained are B(Λb 0→Λc +D-)/ B(Λb 0→Λc +D s -)=0.042±0.003(stat)±0.003(syst), [B(Λb 0→Λc +D s -)/B(B̄0→D+D s -)]/[B(Λb 0→Λ c +π-)/B(B̄0→D +π-)]=0.96±0.02(stat)±0.06(syst),B(B s 0→D+Ds -)/ B(B̄0→D+Ds -)=0. 038±0.004(stat)±0.003(syst),B(B̄0→Λ c +Λc -)/B(B̄ 0→D+Ds -)<0.0022[95%C.L.], B(Bs 0→Λc +Λ c -)/B(Bs 0→D+D s -)<0.30[95%C.L.]. Measurement of the mass of the Λb 0 baryon relative to the B̄0 meson gives M(Λb 0)-M(B̄0)=339. 72±0.24(stat)±0.18(syst)MeV/c2. This result provides the most precise measurement of the mass of the Λb 0 baryon to date

Measurement of form-factor-independent observables in the decay B0→K*0μ+μ-

We present a measurement of form-factor-independent angular observables in the decay B0→K*(892)0μ+μ-. The analysis is based on a data sample corresponding to an integrated luminosity of 1.0  fb-1, collected by the LHCb experiment in pp collisions at a center-of-mass energy of 7 TeV. Four observables are measured in six bins of the dimuon invariant mass squared q2 in the range 0.1<q2<19.0  GeV2/c4. Agreement with recent theoretical predictions of the standard model is found for 23 of the 24 measurements. A local discrepancy, corresponding to 3.7 Gaussian standard deviations is observed in one q2 bin for one of the observables. Considering the 24 measurements as independent, the probability to observe such a discrepancy, or larger, in one is 0.5%