Practical application of pseudospectral optimization to robot path planning

To obtain minimum time or minimum energy trajectories for robots it is necessary to employ planning methods which adequately consider the platform’s dynamic properties. A variety of sampling, graph-based or local receding-horizon optimisation methods have previously been proposed. These typically use simplified kino-dynamic models to avoid the significant computational burden of solving this problem in a high dimensional state-space. In this paper we investigate solutions from the class of pseudospectral optimisation methods which have grown in favour amongst the optimal control community in recent years. These methods have high computational efficiency and rapid convergence properties. We present a practical application of such an approach to the robot path planning problem to provide a trajectory considering the robot’s dynamic properties. We extend the existing literature by augmenting the path constraints with sensed obstacles rather than predefined analytical functions to enable real world application

Linking derived debitage to the Stonehenge Altar Stone using portable X-ray fluorescence analysis

The Altar Stone at Stonehenge in Wiltshire, UK, is enigmatic in that it differs markedly from the other bluestones. It is a grey-green, micaceous sandstone and has been considered to be derived from the Old Red Sandstone sequences of South Wales. Previous studies, however, have been based on presumed derived fragments (debitage) that have been identified visually as coming from the Altar Stone. Portable X-ray fluorescence (pXRF) analyses were conducted on these fragments (ex situ) as well as on the Altar Stone (in situ). Light elements (Z<37) in the Altar Stone analyses, performed after a night of heavy rain, were affected by surface and pore water that attenuate low energy X-rays, however the dry analyses of debitage fragments produced data for a full suite of elements. High Z elements, including Zr, Nb, Sr, Pb, Th and U, all occupy the same compositional space in the Altar Stone and debitage fragments, and are statistically indistinguishable, indicating the fragments are derived from the Altar Stone. Barium compares very closely between the debitage and Altar Stone, with differences being related to variable baryte distribution in the Altar Stone, limited accessibility of its surface for analysis, and probably to surface weathering. A notable feature of the Altar Stone sandstone is the presence of baryte (up to 0.8 modal%), manifest as relatively high Ba in both the debitage and the Altar Stone. These high Ba contents are in marked contrast with those in a small set of Old Red Sandstone field samples, analysed alongside the Altar Stone and debitage fragments, raising the possibility that the Altar Stone may not have been sourced from the Old Red Sandstone sequences of Wales. This high Ba 'fingerprint', related to the presence of baryte, may provide a rapid test using pXRF in the search for the source of the Stonehenge Altar Stone

The Stonehenge Altar Stone was probably not sourced from the Old Red Sandstone of the Anglo-Welsh Basin: time to broaden our geographic and stratigraphic horizons?

Stone 80, the recumbent Altar Stone, is the largest of the Stonehenge foreign “bluestones”, mainly igneous rocks forming the inner Stonehenge circle. The Altar Stone's anomalous lithology, a sandstone of continental origin, led to the previous suggestion of a provenance from the Old Red Sandstone (ORS) of west Wales, close to where the majority of the bluestones have been sourced (viz. the Mynydd Preseli area in west Wales) some 225 km west of Stonehenge. Building upon earlier investigations we have examined new samples from the Old Red Sandstone (ORS) within the Anglo-Welsh Basin (covering south Wales, the Welsh Borderland, the West Midlands and Somerset) using traditional optical petrography but additionally portable XRF, automated SEM-EDS and Raman Spectroscopic techniques. One of the key characteristics of the Altar Stone is its unusually high Ba content (all except one of 106 analyses have Ba &gt; 1025 ppm), reflecting high modal baryte. Of the 58 ORS samples analysed to date from the Anglo-Welsh Basin, only four show analyses where Ba exceeds 1000 ppm, similar to the lower range of the Altar Stone composition. However, because of their contrasting mineralogies, combined with data collected from new automated SEM-EDS and Raman Spectroscopic analyses these four samples must be discounted as being from the source of the Altar Stone. It now seems ever more likely that the Altar Stone was not derived from the ORS of the Anglo-Welsh Basin, and therefore it is time to broaden our horizons, both geographically and stratigraphically into northern Britain and also to consider continental sandstones of a younger age. There is no doubt that considering the Altar Stone as a ‘bluestone’ has influenced thinking regarding the long-held view to a source in Wales. We therefore propose that the Altar Stone should be ‘de-classified’ as a bluestone, breaking a link to the essentially Mynydd Preseli-derived bluestones.</p

A robust system for RNA interference in the chicken using a modified microRNA operon

AbstractRNA interference (RNAi) provides an effective method to silence gene expression and investigate gene function. However, RNAi tools for the chicken embryo have largely been adapted from vectors designed for mammalian cells. Here we present plasmid and retroviral RNAi vectors specifically designed for optimal gene silencing in chicken cells. The vectors use a chicken U6 promoter to express RNAs modelled on microRNA30, which are embedded within chicken microRNA operon sequences to ensure optimal Drosha and Dicer processing of transcripts. The chicken U6 promoter works significantly better than promoters of mammalian origin and in combination with a microRNA operon expression cassette (MOEC), achieves up to 90% silencing of target genes. By using a MOEC, we show that it is also possible to simultaneously silence two genes with a single vector. The vectors express either RFP or GFP markers, allowing simple in vivo tracking of vector delivery. Using these plasmids, we demonstrate effective silencing of Pax3, Pax6, Nkx2.1, Nkx2.2, Notch1 and Shh in discrete regions of the chicken embryonic nervous system. The efficiency and ease of use of this RNAi system paves the way for large-scale genetic screens in the chicken embryo

A systematic review of high quality randomized controlled trials investigating motor skill programmes for children with developmental coordination disorder.

To identify effective motor training interventions for children with developmental coordination disorder from research graded as high quality (using objective criteria) for the purpose of informing evidence-based clinical practice.We followed the guidance for conducting systematic reviews issued by the Centre for Reviews and Dissemination. Six OvidSP electronic databases (AMED, All EBM reviews (including Cochrane), Embase, Ovid MEDLINE, PsychARTICLES Full Text, PsycINFO) were searched systematically. We aimed to retain only randomized control trials and systematic reviews of randomized control trials, defined as the highest level of evidence by the Oxford Centre for Evidence-Based Medicine. We searched reference lists of retained articles to identify further appropriate articles.Two reviewers critically appraised and categorized articles by effect size (including confidence intervals), inclusion of power calculations and quality using the Physiotherapy Evidence Database (PEDro) scale. Only studies scoring seven or more on the PEDro scale (classed by the PEDro as high reliability) were retained.No systematic reviews met our criteria for inclusion from 846 articles yielded by the systematic search. Nine randomized control trials investigating 15 interventions to improve motor skills met our inclusion criteria for 'high quality'. Nevertheless, not all included studies were adequately powered for determining an effect.Large effect sizes associated with 95 % confidence intervals suggest that 'Neuromotor Task Training', 'Task-oriented Motor Training' and 'Motor Imagery + Task Practice Training' are the most effective reported interventions for improving motor skills in children with developmental coordination disorder

Insights into hominid evolution from the gorilla genome sequence.

Gorillas are humans' closest living relatives after chimpanzees, and are of comparable importance for the study of human origins and evolution. Here we present the assembly and analysis of a genome sequence for the western lowland gorilla, and compare the whole genomes of all extant great ape genera. We propose a synthesis of genetic and fossil evidence consistent with placing the human-chimpanzee and human-chimpanzee-gorilla speciation events at approximately 6 and 10 million years ago. In 30% of the genome, gorilla is closer to human or chimpanzee than the latter are to each other; this is rarer around coding genes, indicating pervasive selection throughout great ape evolution, and has functional consequences in gene expression. A comparison of protein coding genes reveals approximately 500 genes showing accelerated evolution on each of the gorilla, human and chimpanzee lineages, and evidence for parallel acceleration, particularly of genes involved in hearing. We also compare the western and eastern gorilla species, estimating an average sequence divergence time 1.75 million years ago, but with evidence for more recent genetic exchange and a population bottleneck in the eastern species. The use of the genome sequence in these and future analyses will promote a deeper understanding of great ape biology and evolution

The ATLAS Data Acquisition and High-Level Trigger: Concept, Design and Status

The Trigger and Data Acquisition system (TDAQ) of the ATLAS experiment at the CERN Large Hadron Collider is based on a multi-level selection process and a hierarchical acquisition tree. The system, consisting of a combination of custom electronics and commercial products from the computing and telecommunication industry, is required to provide an online selection power of 105 and a total throughput in the range of Terabit/sec. This paper introduces the basic system requirements and concepts, describes the architecture of the system, discusses the basic measurements supporting the validity of the design and reports on the actual status of construction and installation

The ATLAS trigger - high-level trigger commissioning and operation during early data taking

The ATLAS experiment is one of the two general-purpose experiments due to start operation soon at the Large Hadron Collider (LHC). The LHC will collide protons at a centre of mass energy of 14~TeV, with a bunch-crossing rate of 40~MHz. The ATLAS three-level trigger will reduce this input rate to match the foreseen offline storage capability of 100-200~Hz. This paper gives an overview of the ATLAS High Level Trigger focusing on the system design and its innovative features. We then present the ATLAS trigger strategy for the initial phase of LHC exploitation. Finally, we report on the valuable experience acquired through in-situ commissioning of the system where simulated events were used to exercise the trigger chain. In particular we show critical quantities such as event processing times, measured in a large-scale HLT farm using a complex trigger menu

The ATLAS Trigger/DAQ Authorlist, version 1.0

This is a reference document giving the ATLAS Trigger/DAQ author list, version 1.0 of 20 Nov 2008