Optimal Path Planning in Distinct Topo-Geometric Classes using Neighborhood-augmented Graph and its Application to Path Planning for a Tethered Robot in 3D

Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables, multi-robot topological exploration & coverage, and, congestion reduction for mobile robots navigation without inter-robot coordination. Existing paradigm is to use topological path planning methods that can provide optimal paths from distinct topological classes available in the underlying configuration space. However, these methods usually require non-trivial and non-universal geometrical constructions, which are prohibitively complex or expensive in 3 or higher dimensional configuration spaces with complex topology. Furthermore, topological methods are unable to distinguish between locally optimal paths that belong to the same topological class but are distinct because of genus-zero obstacles in 3D or due to high-cost or high-curvature regions. In this paper we propose an universal and generalized approach to multi-class path planning using the concept of a novel neighborhood-augmented graph, search-based planning in which can compute paths in distinct topo-geometric classes. This approach can find desired number of locally optimal paths in a wider variety of configuration spaces without requiring any complex pre-processing or geometric constructions. Unlike the existing topological methods, resulting optimal paths are not restricted to distinct topological classes, thus making the algorithm applicable to many other problems where locally optimal and geometrically distinct paths are of interest. For the demonstration of an application of the proposed approach, we implement our algorithm to planning for shortest traversible paths for a tethered robot with cable-length constraint navigating in 3D and validate it in simulations & experiments.Comment: 18 pages, 17 figure

Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning

We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may exist due to lack of communication or due to privacy restrictions (for example, autonomous vehicles may not want to share their locations or intents with other vehicles or even to a central server). The key insight that allows us to solve this problem is to stochastically distribute the robots across different routes in the environment by assigning them paths in different topologically distinct classes, so as to lower congestion and the overall travel time for all robots in the environment. We outline the computation of topologically distinct paths in a spatio-temporal configuration space and propose methods for the stochastic assignment of paths to the robots. A fast replanning algorithm and a potential field based controller allow robots to avoid collision with nearby agents while following the assigned path. Our simulation and experiment results show a significant advantage over shortest path following under such a coordination-free setup.Comment: 30 pages, 9 figure

Atrial electromechanical delay and p wave dispersion associated with severity of chronic obstructive pulmonary disease

Background: The aim of this study was to evaluate atrial electromechanical delay (AEMD) with both electrocardiography (ECG) and echocardiography in patients with Chronic Obstructive Pulmonary Disease (COPD). Methods: Total of 110 patients were included in this cross-sectional case-control study. P-wave dispersion (PWD) was measured on a 12-lead ECG. Atrial electromechanical intervals (PA) were measured as the time interval between the onset of the P wave on the ECG and the beginning of the late diastolic A wave. Results: PWD was found to be 40.9\ub19.2 ms in the healthy control group, 45.6\ub18.2 ms in the mild COPD and 44.8\ub18.7 ms in the severe COPD group (p<0.05). Intra-right atrial EMD was found to be 10.7\ub15.8 ms in mild COPD, 11.0\ub17 ms in severe COPD, and it was 16.4\ub17.3 ms in healthy control group (p<0.001). Interatrial EMD was detected to be 29.5\ub19.1 ms in the control group, 24.1\ub19 ms in mild COPD group, and 23.9\ub111.1 ms in the severe COPD group (p<0.001). Conclusion: Both mild and severe COPD groups decreased PWD, increased tricuspid PA and significantly decreased interand right intra-AEMD times in comparison to the control group

Reporterskie zmagania z obrazami pamięci : wokół "podróży do Włoch" Jarosława Iwaszkiewicza

Jarosław Iwaszkiewicz's Italian travels are the record of the real journey to Apennine Peninsula in the form of reportages. The important fact is that each report constitutes a particular collection of impressions and observations of not the very journey as such but they constitute a compilation of author's encounters with the place he described. As a subject of description the author chose places less known because he wanted to depart from run-of-the-mill description of the Italian space. The form of a reportage allows Iwaszkiewicz to connect freely the description of urban spaces with reflections on history of art and observations on political and economic situation of Italy. Moreover, he allows certain textual polyphony, justifies subjectivity, selectivity of observation and justifies the lack of interest in the chronology of events or the cause and effect relationship of the plots taken. At the same time Italian travels are Iwaszkiewicz's reflections on his own life and work. The text devoted to Sicily (which is one out of seven reportages in the volume) is analysed in detail

Optimality of (s, S) Inventory Policies under Renewal Demand and General Cost Structures

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/142450/1/poms12795_am.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/142450/2/poms12795.pd

Examining the association between exposome score for schizophrenia and functioning in schizophrenia, siblings, and healthy controls: Results from the EUGEI study.

Background. A cumulative environmental exposure score for schizophrenia (exposome score for schizophrenia [ES-SCZ]) may provide potential utility for risk stratification and outcome prediction. Here, we investigated whether ES-SCZ was associated with functioning in patients with schizophrenia spectrum disorder, unaffected siblings, and healthy controls. Methods. This cross-sectional sample consisted of 1,261 patients, 1,282 unaffected siblings, and 1,525 healthy controls. The Global Assessment of Functioning (GAF) scale was used to assess functioning. ES-SCZ was calculated based on our previously validated method. The association between ES-SCZ and the GAF dimensions (symptom and disability) was analyzed by applying regression models in each group (patients, siblings, and controls). Additional models included polygenic risk score for schizophrenia (PRS-SCZ) as a covariate. Results. ES-SCZ was associated with the GAF dimensions in patients (symptom: B = 1.53, p-value = 0.001; disability: B = 1.44, p-value = 0.001), siblings (symptom: B = 3.07, p-value < 0.001; disability: B = 2.52, p-value < 0.001), and healthy controls (symptom: B = 1.50, p-value < 0.001; disability: B = 1.31, p-value < 0.001). The results remained the same after adjusting for PRS-SCZ. The degree of associations of ES-SCZ with both symptom and disability dimensions were higher in unaffected siblings than in patients and controls. By analyzing an independent dataset (the Genetic Risk and Outcome of Psychosis study), we replicated the results observed in the patient group. Conclusions. Our findings suggest that ES-SCZ shows promise for enhancing risk prediction and stratification in research practice. From a clinical perspective, ES-SCZ may aid in efforts of clinical characterization, operationalizing transdiagnostic clinical staging models, and personalizing clinical management

Prevalence and burden of HBV co-infection among people living with HIV:A global systematic review and meta-analysis

Globally, in 2017 35 million people were living with HIV (PLHIV) and 257 million had chronic HBV infection (HBsAg positive). The extent of HIV-HBsAg co-infection is unknown. We undertook a systematic review to estimate the global burden of HBsAg co-infection in PLHIV. We searched MEDLINE, Embase and other databases for published studies (2002-2018) measuring prevalence of HBsAg among PLHIV. The review was registered with PROSPERO (#CRD42019123388). Populations were categorized by HIV-exposure category. The global burden of co-infection was estimated by applying regional co-infection prevalence estimates to UNAIDS estimates of PLHIV. We conducted a meta-analysis to estimate the odds of HBsAg among PLHIV compared to HIV-negative individuals. We identified 506 estimates (475 studies) of HIV-HBsAg co-infection prevalence from 80/195 (41.0%) countries. Globally, the prevalence of HIV-HBsAg co-infection is 7.6% (IQR 5.6%-12.1%) in PLHIV, or 2.7 million HIV-HBsAg co-infections (IQR 2.0-4.2). The greatest burden (69% of cases; 1.9 million) is in sub-Saharan Africa. Globally, there was little difference in prevalence of HIV-HBsAg co-infection by population group (approximately 6%-7%), but it was slightly higher among people who inject drugs (11.8% IQR 6.0%-16.9%). Odds of HBsAg infection were 1.4 times higher among PLHIV compared to HIV-negative individuals. There is therefore, a high global burden of HIV-HBsAg co-infection, especially in sub-Saharan Africa. Key prevention strategies include infant HBV vaccination, including a timely birth-dose. Findings also highlight the importance of targeting PLHIV, especially high-risk groups for testing, catch-up HBV vaccination and other preventative interventions. The global scale-up of antiretroviral therapy (ART) for PLHIV using a tenofovir-based ART regimen provides an opportunity to simultaneously treat those with HBV co-infection, and in pregnant women to also reduce mother-to-child transmission of HBV alongside HIV

White noise speech illusions: A trait-dependent risk marker for psychotic disorder?

Introduction: White noise speech illusions index liability for psychotic disorder in case-control comparisons. In the current study, we examined i) the rate of white noise speech illusions in siblings of patients with psychotic disorder and ii) to what degree this rate would be contingent on exposure to known environmental risk factors (childhood adversity and recent life events) and level of known endophenotypic dimensions of psychotic disorder [psychotic experiences assessed with the Community Assessment of Psychic Experiences (CAPE) scale and cognitive ability]. Methods: The white noise task was used as an experimental paradigm to elicit and measure speech illusions in 1,014 patients with psychotic disorders, 1,157 siblings, and 1,507 healthy participants. We examined associations between speech illusions and increasing familial risk (control -> sibling -> patient), modeled as both a linear and a categorical effect, and associations between speech illusions and level of childhood adversities and life events as well as with CAPE scores and cognitive ability scores. Results: While a positive association was found between white noise speech illusions across hypothesized increasing levels of familial risk (controls -> siblings -> patients) [odds ratio (OR) linear 1.11, 95% confidence interval (CI) 1.02-1.21, p = 0.019], there was no evidence for a categorical association with sibling status (OR 0.93, 95% CI 0.79-1.09, p = 0.360). The association between speech illusions and linear familial risk was greater if scores on the CAPE positive scale were higher (p interaction = 0.003; ORlow CAPE positive scale 0.96, 95% CI 0.85-1.07; ORhigh CAPE positive scale 1.26, 95% CI 1.09-1.46); cognitive ability was lower (p interaction < 0.001; ORhigh cognitive ability 0.94, 95% CI 0.84-1.05; ORlow cognitive ability 1.43, 95% CI 1.23-1.68); and exposure to childhood adversity was higher (p interaction < 0.001; ORlow adversity 0.92, 95% CI 0.82-1.04; ORhigh adversity 1.31, 95% CI 1.13-1.52). A similar, although less marked, pattern was seen for categorical patient-control and sibling-control comparisons. Exposure to recent life events did not modify the association between white noise and familial risk (p interaction = 0.232). Conclusion: The association between white noise speech illusions and familial risk is contingent on additional evidence of endophenotypic expression and of exposure to childhood adversity. Therefore, speech illusions may represent a trait-dependent risk marker

Search for new particles in events with energetic jets and large missing transverse momentum in proton-proton collisions at root s=13 TeV

A search is presented for new particles produced at the LHC in proton-proton collisions at root s = 13 TeV, using events with energetic jets and large missing transverse momentum. The analysis is based on a data sample corresponding to an integrated luminosity of 101 fb(-1), collected in 2017-2018 with the CMS detector. Machine learning techniques are used to define separate categories for events with narrow jets from initial-state radiation and events with large-radius jets consistent with a hadronic decay of a W or Z boson. A statistical combination is made with an earlier search based on a data sample of 36 fb(-1), collected in 2016. No significant excess of events is observed with respect to the standard model background expectation determined from control samples in data. The results are interpreted in terms of limits on the branching fraction of an invisible decay of the Higgs boson, as well as constraints on simplified models of dark matter, on first-generation scalar leptoquarks decaying to quarks and neutrinos, and on models with large extra dimensions. Several of the new limits, specifically for spin-1 dark matter mediators, pseudoscalar mediators, colored mediators, and leptoquarks, are the most restrictive to date.Peer reviewe

MUSiC : a model-unspecific search for new physics in proton-proton collisions at root s=13TeV

Results of the Model Unspecific Search in CMS (MUSiC), using proton-proton collision data recorded at the LHC at a centre-of-mass energy of 13 TeV, corresponding to an integrated luminosity of 35.9 fb(-1), are presented. The MUSiC analysis searches for anomalies that could be signatures of physics beyond the standard model. The analysis is based on the comparison of observed data with the standard model prediction, as determined from simulation, in several hundred final states and multiple kinematic distributions. Events containing at least one electron or muon are classified based on their final state topology, and an automated search algorithm surveys the observed data for deviations from the prediction. The sensitivity of the search is validated using multiple methods. No significant deviations from the predictions have been observed. For a wide range of final state topologies, agreement is found between the data and the standard model simulation. This analysis complements dedicated search analyses by significantly expanding the range of final states covered using a model independent approach with the largest data set to date to probe phase space regions beyond the reach of previous general searches.Peer reviewe