A drift-diffusion model for robotic obstacle avoidance

We develop a stochastic framework for modeling and analysis of robot navigation in the presence of obstacles. We show that, with appropriate assumptions, the probability of a robot avoiding a given obstacle can be reduced to a function of a single dimensionless parameter which captures all relevant quantities of the problem. This parameter is analogous to the Peclet number considered in the literature on mass transport in advection-diffusion fluid flows. Using the framework we also compute statistics of the time required to escape an obstacle in an informative case. The results of the computation show that adding noise to the navigation strategy can improve performance. Finally, we present experimental results that illustrate these performance improvements on a robotic platform. For more information: Kod*La

Dynamical Trajectory Replanning for Uncertain Environments

We propose a dynamical reference generator equipped with an augmented transient “replanning” subsystem that modulates a feedback controller’s efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator’s output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate that the new reference generator cannot destabilize the tracker, that tracking errors converge in the absence of disturbance, and that the overall coupled reference-tracker system cannot be destabilized by disturbances of bounded energy. We report the results of simulation studies exploring the performance of this new design applied to a two dimensional point mass particle interacting with fixed but unknown terrain obstacles. For more information: Kod*La

X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks

We report on the design and development of X-RHex, a hexapedal robot with a single actuator per leg, intended for real-world mobile applications. X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable footprint and weight. Furthermore, X-RHex is designed to be easier to build and maintain by using a variety of commercial off-the-shelf (COTS) components for a majority of its internals. This document describes the X-RHex architecture and design, with a particular focus on the new ability of this robot to carry modular payloads as a laboratory on legs. X-RHex supports a variety of sensor suites on a small, mobile robotic platform intended for broad, general use in research, defense, and search and rescue applications. Comparisons with previous RHex platforms are presented throughout, with preliminary tests indicating that the locomotive capabilities of X-RHex can meet or exceed the previous platforms. With the additional payload capabilities of X-RHex, we claim it to be the first robot of its size to carry a fully programmable GPU for fast, parallel sensor processing

Defining behavioral pattern for historical buildings in Izmir, Turkey

Izmir is one of the major western Anatolian cities in Turkey. Due to its prime location and its port, Izmir has become one of the busiest trade centers since the Ottoman Era. Additionally, its unique urban features have led the way for the city to host some of the most important civilizations throughout history. There are many important historical buildings sustained damages due to experienced earthquakes over the years. Currently, the historical buildings are under threat due to the high seismicity of the region. The frequency of earthquakes and the poor seismic performance of historic buildings in the past necessitate the seismic risk assessment of this historical buildings. Such assessment is also a necessity for the proper restoration and renovation of historic buildings in the city. This research provides an investigation of the historical building profile located in the historical Kemeralti district of Izmir, Turkey. Historical mosques have been investigated in site investigations via Rapid Visual Inspection Method. Base Scores and Critical-Benchmark Scores were determined based on-site investigations. Final score has been found out by using these two achieved scores. The scores were given in tables within a correlation of each other in the study. Based on site investigation, a behavioral pattern is defined for historical buildings in Izmir, Turkey

Successful Outcome With Second Hematopoietic Stem Cell Transplantation in A Patient With IL-10R Deficiency

nterleukin-10 (IL-10) and IL-10 receptor (IL-10R) deficiencies, which are caused by loss of function mutations in the related genes, are primary immunodeficiencies that result in severe dysregulation of the immune system.1, 2 Patients usually present early in life with an inflammatory bowel disease-like phenotype accompanied with severe perianal disease. Other clinical features of the disease are chronic folliculitis, recurrent respiratory diseases and arthritisWo

Course of IL-2-inducible T-cell kinase deficiency in a family: lymphomatoid granulomatosis, lymphoma and allogeneic bone marrow transplantation in one sibling; and death in the other

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ADA Deficiency: Evaluation of the Clinical and Laboratory Features and the Outcome.

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