AutonoVi: Autonomous Vehicle Planning with Dynamic Maneuvers and Traffic Constraints

We present AutonoVi:, a novel algorithm for autonomous vehicle navigation that supports dynamic maneuvers and satisfies traffic constraints and norms. Our approach is based on optimization-based maneuver planning that supports dynamic lane-changes, swerving, and braking in all traffic scenarios and guides the vehicle to its goal position. We take into account various traffic constraints, including collision avoidance with other vehicles, pedestrians, and cyclists using control velocity obstacles. We use a data-driven approach to model the vehicle dynamics for control and collision avoidance. Furthermore, our trajectory computation algorithm takes into account traffic rules and behaviors, such as stopping at intersections and stoplights, based on an arc-spline representation. We have evaluated our algorithm in a simulated environment and tested its interactive performance in urban and highway driving scenarios with tens of vehicles, pedestrians, and cyclists. These scenarios include jaywalking pedestrians, sudden stops from high speeds, safely passing cyclists, a vehicle suddenly swerving into the roadway, and high-density traffic where the vehicle must change lanes to progress more effectively.Comment: 9 pages, 6 figure

A new methodology for the quantitative visualization of coherent flow structures in alluvial channels using multibeam echo-sounding (MBES)

In order to investigate the interactions between turbulence and suspended sediment transport in natural aqueous environments, we ideally require a technique that allows simultaneous measurement of fluid velocity and sediment concentration for the whole flow field. Here, we report on development of a methodology using the water column acoustic backscatter signal from a multibeam echo sounder to simultaneously quantify flow velocities and sediment concentrations. The application of this new technique is illustrated with reference to flow over the leeside of an alluvial sand dune, which allows, for the first time in a field study, quantitative visualization of large-scale, whole flow field, turbulent coherent flow structures associated with the dune leeside that are responsible for suspending bed sediment. This methodology holds great potential for use in a wide range of aqueous geophysical flows

C=N-containing azaarenes as activating groups in enantioselective catalysis

Nitrogen-containing aromatic heterocycles (azaarenes) are of widespread chemical significance, and chi-ral compounds containing azaarenes feature prominently in pharmaceuticals, agrochemicals, and natural products. This Perspective highlights the use of a relatively underdeveloped strategy to prepare chiral azaarene-containing compounds: exploitation of the C=N bond embedded within certain azaarenes to activate adjacent functionality in catalytic asym-metric reactions. Work in this area has resulted in the development of several different types of catalytic enantioselec-tive processes, including reductions, nucleophilic additions, and reductive couplings. It is hoped that this Perspective will encourage more researchers to work in this promising area

Covid-19 Impacts on Electronic Resource Usage at a Regional University

An analysis of electronic resource usage at a regional university in the southeast during the COVID-19 pandemic showed interesting results. While it was anticipated that movement to online instruction would increase usage of electronic resources, it was discovered that overall usage actually declined for those resources. Virtual reference transactions, however, increased during the pandemic. When meas-uring downloads of full-text of both journals and e-Books in the health sciences, humanities, social sci-ences, and physical sciences, it was discovered that the first three subject areas showed a double digit percentage decline in use, with only the physical sciences showing a decline of less than ten percent

The black holes of radio galaxies during the "Quasar Era": Masses, accretion rates, and evolutionary stage

We present an analysis of the AGN broad-line regions of 6 powerful radio galaxies at z>~2 (HzRGs) with rest-frame optical imaging spectroscopy obtained at the VLT. All galaxies have luminous (L(H-alpha)=few x 10^44 erg s^-1), spatially unresolved H-alpha line emission with FWHM>= 10,000 km s^-1 at the position of the nucleus, suggesting their AGN are powered by supermassive black holes with masses of few x 10^9 M_sun and accretion luminosities of a few percent of the Eddington luminosity. In two galaxies we also detect the BLRs in H-beta, suggesting relatively low extinction of A_V~1 mag, which agrees with constraints from X-ray observations. By relating black hole and bulge mass, we find a possible offset towards higher black-hole masses of at most ~0.6 dex relative to nearby galaxies at a given host mass, although each individual galaxy is within the scatter of the local relationship. If not entirely from systematic effects, this would then suggest that the masses of the host galaxies have increased by at most a factor ~4 since z~2 relative to the black-hole masses, perhaps through accretion of satellite galaxies or because of a time lag between star formation in the host galaxy and AGN fueling. We also compare the radiative and mechanical energy output (from jets) of our targets with predictions of recent models of "synthesis" or "grand unified" AGN feedback, which postulate that AGN with similar radiative and mechanical energy output rates to those found in our HzRGs may be nearing the end of their period of active growth. We discuss evidence that they may reach this stage at the same time as their host galaxies.Comment: A&A in pres

Proton Capture on ^{17}O and its astrophysical implications

The reaction $^{17}$O$(p,\gamma)^{18}$F influences hydrogen-burning nucleosynthesis in several stellar sites, such as red giants, asymptotic giant branch (AGB) stars, massive stars and classical novae. In the relevant temperature range for these environments ($T_{9}=0.01-0.4), the main contributions to the rate of this reaction are the direct capture process, two low lying narrow resonances ($E_{r}=65.1$and 183 keV) and the low-energy tails of two broad resonances ($E_{r}=557$and 677 keV). Previous measurements and calculations give contradictory results for the direct capture contribution which in turn increases the uncertainty of the reaction rate. In addition, very few published cross section data exist for the high energy region that might affect the interpretation of the direct capture and the contributions of the broad resonances in the lower energy range. This work aims to address these issues. The reaction cross section was measured in a wide proton energy range ($E_{c.m.}=345$- 1700 keV) and at several angles ($\theta_{lab}=0^{\circ},45^{\circ},90^{\circ},135^{\circ}$). The observed primary$\gamma$-transitions were used as input in an$R$-matrix code in order to obtain the contribution of the direct capture and the two broad resonances to the low-energy region. The extrapolated S-factor from the present data is in good agreement with the existing literature data in the low-energy region. A new reaction rate was calculated from the combined results of this work and literature S-factor determinations. Resonance strengths and branchings are reported for several$^{18}$F states. We were able to extrapolate the astrophysical S-factor of the reaction$^{17}$O$(p,\gamma)^{18}$F at low energies from cross section data taken at higher energies. No significant changes in the nucleosynthesis are expected from the newly calculated reaction rate.Comment: Accepted in Physical Review

Copper-catalyzed borylative coupling of vinylazaarenes and N-Boc imines

Cu-catalyzed three-component couplings of vinylazaarenes, B2(pin)2, and N-Boc imines are described. Oxidation of the initially formed boronate gives azaarene-containing, Boc-protected amino alcohols with reasonable to good diastereoselectivities

The influence of flow discharge variations on the morphodynamics of a diffluence-confluence unit on a large river: Impacts of discharge variation on a diffluence-confluence unit

© 2017 The Authors. Earth Surface Processes and Landforms published by John Wiley & Sons Ltd. Bifurcations are key geomorphological nodes in anabranching and braided fluvial channels, controlling local bed morphology, the routing of sediment and water, and ultimately defining the stability of their associated diffluence–confluence unit. Recently, numerical modelling of bifurcations has focused on the relationship between flow conditions and the partitioning of sediment between the bifurcate channels. Herein, we report on field observations spanning September 2013 to July 2014 of the three-dimensional flow structure, bed morphological change and partitioning of both flow discharge and suspended sediment through a large diffluence–confluence unit on the Mekong River, Cambodia, across a range of flow stages (from 13 500 to 27 000 m 3 s −1 ). Analysis of discharge and sediment load throughout the diffluence–confluence unit reveals that during the highest flows (Q = 27 000 m 3 s −1 ), the downstream island complex is a net sink of sediment (losing 2600 ± 2000 kg s −1 between the diffluence and confluence), whereas during the rising limb (Q = 19 500 m 3 s −1 ) and falling limb flows (Q = 13 500 m 3 s −1 ) the sediment balance is in quasi-equilibrium. We show that the discharge asymmetry of the bifurcation varies with discharge and highlight that the influence of upstream curvature-induced water surface slope and bed morphological change may be first-order controls on bifurcation configuration. Comparison of our field data to existing bifurcation stability diagrams reveals that during lower (rising and falling limb) flow the bifurcation may be classified as unstable, yet transitions to a stable condition at high flows. However, over the long term (1959–2013) aerial imagery reveals the diffluence–confluence unit to be fairly stable. We propose, therefore, that the long-term stability of the bifurcation, as well as the larger channel planform and morphology of the diffluence–confluence unit, may be controlled by the dominant sediment transport regime of the system. © 2017 The Authors. Earth Surface Processes and Landforms published by John Wiley & Sons Ltd