Trajectory Planning for Autonomous High-Speed Overtaking in Structured Environments using Robust MPC

Automated vehicles are increasingly getting mainstreamed and this has pushed development of systems for autonomous manoeuvring (e.g., lane-change, merge, overtake, etc.) to the forefront. A novel framework for situational awareness and trajectory planning to perform autonomous overtaking in high-speed structured environments (e.g., highway, motorway) is presented in this paper. A combination of a potential field like function and reachability sets of a vehicle are used to identify safe zones on a road that the vehicle can navigate towards. These safe zones are provided to a tube-based robust model predictive controller as reference to generate feasible trajectories for combined lateral and longitudinal motion of a vehicle. The strengths of the proposed framework are: (i) it is free from nonconvex collision avoidance constraints, (ii) it ensures feasibility of trajectory even if decelerating or accelerating while performing lateral motion, and (iii) it is real-time implementable. The ability of the proposed framework to plan feasible trajectories for highspeed overtaking is validated in a high-fidelity IPG CarMaker and Simulink co-simulation environment

Trajectory planning for autonomous high-speed overtaking in structured environments using robust MPC

Automated vehicles are increasingly getting main-streamed and this has pushed development of systems for autonomous manoeuvring (e.g., lane-change, merge, and overtake) to the forefront. A novel framework for situational awareness and trajectory planning to perform autonomous overtaking in high-speed structured environments (e.g., highway and motorway) is presented in this paper. A combination of a potential field like function and reachability sets of a vehicle are used to identify safe zones on a road that the vehicle can navigate towards. These safe zones are provided to a tube-based robust model predictive controller as reference to generate feasible trajectories for combined lateral and longitudinal motion of a vehicle. The strengths of the proposed framework are: 1) it is free from non-convex collision avoidance constraints; 2) it ensures feasibility of trajectory even if decelerating or accelerating while performing lateral motion; and 3) it is real-time implementable. The ability of the proposed framework to plan feasible trajectories for high-speed overtaking is validated in a high-fidelity IPG CarMaker and Simulink co-simulation environment

Liverpool Telecare Pilot: case studies

Telecare services use information and communications technology (ICT) to support the provision of care to people in their own homes. This paper describes a pilot telecare service employed by Liverpool (UK) City Council to support a sample of their frail and elderly social services users. The pilot has been running for over two years and has been deployed for 21 individuals in Liverpool. In this paper we present the pilot system and provide real example cases which help to illustrate the benefits of such a system

Magnetostrictive behaviour of thin superconducting disks

Flux-pinning-induced stress and strain distributions in a thin disk superconductor in a perpendicular magnetic field is analyzed. We calculate the body forces, solve the magneto-elastic problem and derive formulas for all stress and strain components, including the magnetostriction $\Delta R/R$. The flux and current density profiles in the disk are assumed to follow the Bean model. During a cycle of the applied field the maximum tensile stress is found to occur approximately midway between the maximum field and the remanent state. An effective relationship between this overall maximum stress and the peak field is found.Comment: 8 pages, 6 figures, submitted to Supercond. Sci. Technol., Proceed. of MEM03 in Kyot

Use of CRISPR-modified human stem cell organoids to study the origin of mutational signatures in cancer.

Mutational processes underlie cancer initiation and progression. Signatures of these processes in cancer genomes may explain cancer etiology and could hold diagnostic and prognostic value. We developed a strategy that can be used to explore the origin of cancer-associated mutational signatures. We used CRISPR-Cas9 technology to delete key DNA repair genes in human colon organoids, followed by delayed subcloning and whole-genome sequencing. We found that mutation accumulation in organoids deficient in the mismatch repair gene MLH1 is driven by replication errors and accurately models the mutation profiles observed in mismatch repair-deficient colorectal cancers. Application of this strategy to the cancer predisposition gene NTHL1, which encodes a base excision repair protein, revealed a mutational footprint (signature 30) previously observed in a breast cancer cohort. We show that signature 30 can arise from germline NTHL1 mutations

Report from the third international consensus meeting to harmonise core outcome measures for atopic eczema/dermatitis clinical trials (HOME).

This report provides a summary of the third meeting of the Harmonising Outcome Measures for Eczema (HOME) initiative held in San Diego, CA, U.S.A., 6-7 April 2013 (HOME III). The meeting addressed the four domains that had previously been agreed should be measured in every eczema clinical trial: clinical signs, patient-reported symptoms, long-term control and quality of life. Formal presentations and nominal group techniques were used at this working meeting, attended by 56 voting participants (31 of whom were dermatologists). Significant progress was made on the domain of clinical signs. Without reference to any named scales, it was agreed that the intensity and extent of erythema, excoriation, oedema/papulation and lichenification should be included in the core outcome measure for the scale to have content validity. The group then discussed a systematic review of all scales measuring the clinical signs of eczema and their measurement properties, followed by a consensus vote on which scale to recommend for inclusion in the core outcome set. Research into the remaining three domains was presented, followed by discussions. The symptoms group and quality of life groups need to systematically identify all available tools and rate the quality of the tools. A definition of long-term control is needed before progress can be made towards recommending a core outcome measure

Systemic versus localized coagulation activation contributing to organ failure in critically ill patients

In the pathogenesis of sepsis, inflammation and coagulation play a pivotal role. Increasing evidence points to an extensive cross-talk between these two systems, whereby inflammation not only leads to activation of coagulation but coagulation also considerably affects inflammatory activity. The intricate relationship between inflammation and coagulation may not only be relevant for vascular atherothrombotic disease in general but has in certain clinical settings considerable consequences, for example in the pathogenesis of microvascular failure and subsequent multiple organ failure, as a result of severe infection and the associated systemic inflammatory response. Molecular pathways that contribute to inflammation-induced activation of coagulation have been precisely identified. Pro-inflammatory cytokines and other mediators are capable of activating the coagulation system and downregulating important physiological anticoagulant pathways. Activation of the coagulation system and ensuing thrombin generation is dependent on an interleukin-6-induced expression of tissue factor on activated mononuclear cells and endothelial cells and is insufficiently counteracted by physiological anticoagulant mechanisms and endogenous fibrinolysis. Interestingly, apart from the overall systemic responses, a differential local response in various vascular beds related to specific organs may occur

Insights into Land Plant Evolution Garnered from the Marchantia polymorpha Genome.

The evolution of land flora transformed the terrestrial environment. Land plants evolved from an ancestral charophycean alga from which they inherited developmental, biochemical, and cell biological attributes. Additional biochemical and physiological adaptations to land, and a life cycle with an alternation between multicellular haploid and diploid generations that facilitated efficient dispersal of desiccation tolerant spores, evolved in the ancestral land plant. We analyzed the genome of the liverwort Marchantia polymorpha, a member of a basal land plant lineage. Relative to charophycean algae, land plant genomes are characterized by genes encoding novel biochemical pathways, new phytohormone signaling pathways (notably auxin), expanded repertoires of signaling pathways, and increased diversity in some transcription factor families. Compared with other sequenced land plants, M. polymorpha exhibits low genetic redundancy in most regulatory pathways, with this portion of its genome resembling that predicted for the ancestral land plant. PAPERCLIP