This paper presents an improved path planner formulation using mixed-integer linear programming (MILP) to solve a receding horizon optimization problem in real-time for unmanned aerial vehicles (UAVs). This paper uses...
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This paper presents an improved path planner formulation using mixed-integer linear programming (MILP) to solve a receding horizon optimization problem in real-time for unmanned aerial vehicles (UAVs). This paper uses variable sized time-steps with linear interpolation points and horizon minimization techniques to enhance the capability of the online path planner. Flight tests on an unique indoor quadrotor testbed demonstrate that MILP can be reliably used in real-time. A multi-vehicle test is also presented to demonstrate non-communicating de-confliction trajectory planning using MILP.
A nonlinear resonant circuit comprising a SQUID magnetometer and a shunting capacitor is studied as a readout scheme for a persistent-current qubit. The flux state of the qubit is detected as a change in the Josephson...
A nonlinear resonant circuit comprising a SQUID magnetometer and a shunting capacitor is studied as a readout scheme for a persistent-current qubit. The flux state of the qubit is detected as a change in the Josephson inductance of the SQUID magnetometer, which in turn mediates a shift in the resonant frequency of the readout circuit. The nonlinearity and resulting hysteresis in the resonant behavior are characterized as a function of the power of both the input drive and the associated resonance-peak response. Numerical simulations based on a nonlinear circuit model shows that the observed nonlinearity is dominated by the effect due to an ac flux rather than current bias through the Josephson inductor.
We present an algebraic characterization of the standard commutative relaxation of the word problem in terms of a polynomial equality. We then consider a variant of the commutative word problem, referred to as the &qu...
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ISBN:
(纸本)9781424414970;1424414970
We present an algebraic characterization of the standard commutative relaxation of the word problem in terms of a polynomial equality. We then consider a variant of the commutative word problem, referred to as the "Zero-to-All reachability" problem. We show that this problem is equivalent to a finite number of commutative word problems, and we use this insight to derive necessary conditions for Zero-to-All reachability. We conclude with a set of illustrative examples.
We demonstrate transmission-mode imaging over a 25 meter distance using a ~4.9- THz quantum-cascade laser, frequency-optimized for a low-loss (-0.5 dB/m) atmospheric window. The ~17-mW peak power allows real-time imag...
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ISBN:
(纸本)1557528349
We demonstrate transmission-mode imaging over a 25 meter distance using a ~4.9- THz quantum-cascade laser, frequency-optimized for a low-loss (-0.5 dB/m) atmospheric window. The ~17-mW peak power allows real-time imaging with a 320x240 element microbolometer camera.
Rapid interpretation of physiological time-series data and accurate assessment of patient state are crucial to patient monitoring in critical care. Algorithms that use artificial intelligence techniques have the poten...
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Rapid interpretation of physiological time-series data and accurate assessment of patient state are crucial to patient monitoring in critical care. Algorithms that use artificial intelligence techniques have the potential to help achieve these tasks, but their development requires well- annotated patient data. In this study, we designed a data acquisition system for synchronized collection of physiological time-series data and clinical event annotations at the bedside to support the evaluation of alarm algorithms in real time, and implemented this system in a pediatric intensive care unit (ICU). This system captured vital sign measurements at 1 Hz and 325 clinical alarms generated by the bedside monitor and the 2 instances of false negatives during a monitoring period of 196 hours. The alarm annotations in real time at the bedside indicate that about 89% of these alarms were clinically-relevant true positives; 6% were true positives without clinical relevance; and 5% were false positives. These findings show an improved specificity of the alarm algorithms in the newer generation of bedside monitoring systems and demonstrate that the designed data acquisition system enables real-time evaluation of patient monitoring algorithms for critical care.
ZnO nanorods are grown by hydrothermal synthesis on a GaN substrate. The nanorods are charcterised by X-ray diffraction, photoluminescence and electron diffraction. A phenomenological model is proposed to predict the ...
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ZnO nanorods are grown by hydrothermal synthesis on a GaN substrate. The nanorods are charcterised by X-ray diffraction, photoluminescence and electron diffraction. A phenomenological model is proposed to predict the areal density and rod length.
A first-principles study of native point defects in hafnia (HfO2) and zirconia (ZrO2) is carried out to identify dominant defects under different oxygen chemical potentials and Fermi levels. Oxygen vacancies and oxyge...
A first-principles study of native point defects in hafnia (HfO2) and zirconia (ZrO2) is carried out to identify dominant defects under different oxygen chemical potentials and Fermi levels. Oxygen vacancies and oxygen interstitials in both HfO2 and ZrO2 show negative-U behavior. It is shown that HfO2 is less prone to the formation of oxygen point defects than ZrO2 under the same oxygen chemical potential. When the Fermi level is constrained to be within the band gap of silicon, the dominant defects are negatively charged hafnium or zirconium vacancies under intermediate to high oxygen chemical potential. We find no evidence for magnetic defects.
Activation of the innate immune response in diseases such as rheumatoid arthritis and atherosclerosis leads to the production of proinflammatory cytokines that can promote collagenolysis. While a number of studies sug...
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Activation of the innate immune response in diseases such as rheumatoid arthritis and atherosclerosis leads to the production of proinflammatory cytokines that can promote collagenolysis. While a number of studies suggest that inflammation plays a major role in initiating collagen degradation, the effect of collagen and collagen-degradation fragments on the inflammatory response is not well understood. We now demonstrate that different collagen fragments can either augment or suppress IL-1β production from human peripheral-blood monocytes. These data have wide-ranging implications for how amino acid variation in collagen affects disease and suggest that collagen degradation leads to the production of peptides that can modulate inflammation.
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