Towards a Trajectory Planning Concept: Augmenting Path Planning Methods by Considering Speed Limit Constraints

Trajectory planning is an essential part of systems controlling autonomous entities such as vehicles or robots. It requires not only finding spatial curves but also that dynamic properties of the vehicles (such as speed limits for certain maneuvers) must be followed. In this paper, we present an approach for augmenting existing path planning methods to support basic dynamic constraints, concretely speed limit constraints. We apply this approach to the well known A* and state-of-the-art Theta* and Lazy Theta* path planning algorithms. We use a concept of trajectory planning based on a modular architecture in which spatial and dynamic parts can be easily implemented. This concept allows dynamic aspects to be processed during planning. Existing systems based on a similar concept usually add dynamics (velocity) into spatial curves in a post-processing step which might be inappropriate when the curves do not follow the dynamics. Many existing trajectory planning approaches, especially in mobile robotics, encode dynamic aspects directly in the representation (e.g. in the form of regular lattices) which requires a precise knowledge of the environmental and dynamic properties of particular autonomous entities making designing and implementing such trajectory planning approaches quite difficult. The concept of trajectory planning we implemented might not be as precise but the modular architecture makes the design and implementation easier because we can use (modified) well known path planning methods and define models of dynamics of autonomous entities separately. This seems to be appropriate for simulations used in feasibility studies for some complex autonomous systems or in computer games etc. Our basic implementation of the augmented A*, Theta* and Lazy Theta* algorithms is also experimentally evaluated. We compare (i) the augmented and basic A*, Theta* and Lazy Theta* algorithms and (ii) optimizing of augmented Theta* and Lazy Theta* for distance (the trajectory length) and duration (time needed to move through the trajectory).     

Wear Mechanisms of Chromia Refractories in Slagging Gasifiers

The hot-face refractory lining is a key component of gasification systems. The refractory liner protects the gasification system from the high-temperature corrosive gaseous and from the molten slag environment associated with the conversion of carbon feedstocks. This paper will discuss the effect of gasifier operating conditions and carbon feedstock slag/ash chemistry on the refractory service life. Particular attention is focused on the wear mechanism of chromia refractories, determined through postmortem analysis of spent refractory bricks from service in gasifiers. Also presented is the behavior of a phosphate-containing chromia refractory with improved resistance to structural spalling.     

Carbon fiber structure and stability studies

A study has been made of the thermal-oxidative stability of several commercially available carbon fibers. Significant differences in the weight loss behavior were observed in air aging studies run on the bare fibers at 600°F (589 K). The stability of high temperature laminates, such as those based on NR-150 polyimide precursor solutions, was found to be directly affected by the stability of the reinforcing carbon fibers. In studies carried out to determine the reasons for carbon fiber instability, residual sodium sulfate was found to be the principle destabilizing factor. A mechanism whereby the sodium sulfate promotes the oxidation of carbon in the presence of air is proposed.     

Laminated paper-based analytical devices (LPAD): fabrication, characterization, and assays

Paper-based microfluidic devices have recently garnered an increasing interest in the literature. The majority of these devices were produced by patterning hydrophobic zones in hydrophilic paper via photoresist or wax. Others were created by cutting paper using a laser. Here, we present a fabrication method for producing devices by simple craft-cutting and lamination, in a way similar to making an identification (ID) card. The method employs a digital craft cutter and roll laminator to produce laminated paper-based analytical devices (LPAD). Lamination with a plastic backing provides the mechanical strength for a paper device. The approach of using a craft cutter and laminator makes it possible to rapid-prototype LPAD with no more difficulty than producing a typical ID card, at very low cost. Devices constructed using this method have been exploited for simultaneous detection of bovine serum albumin (BSA) and glucose in synthetic urine with colorimetric assays. Both BSA and glucose are detectable at clinically relevant concentrations, with the detection limit at 2.5 μM for BSA and 0.5 mM for glucose.     

Observed finger behaviour during computer mouse use

Two-button computer mouse users may exhibit sustained, static finger lifting behaviours to prevent inadvertent activations by avoiding finger pressure on the buttons, which leads to prolonged, static finger extensor muscle loading. One hundred graduate students were observed during normal computer work in a university computer facility to qualify and quantify the prevalence of lifted finger behaviours and extended finger postures, as well as wrist/forearm and grip behaviour, during specific mouse activities. The highest prevalences observed were 48% of the students lifted their middle finger during mouse drag activities, and 23% extended their middle finger while moving the mouse. In addition, 98% of the students rested their wrist and forearm (77%) or wrist only (21%) on the workstation surface, and 97% had an extended wrist posture (15 degrees -30 degrees ) when using the mouse. Potential applications of these findings include future computer input device designs to reduce finger lifting behaviour and exposures to risk factors of hand/forearm musculoskeletal pain.     

Targeted Nanoparticle Thermometry: A Method to Measure Local Temperature at the Nanoscale Point Where Water Vapor Nucleation Occurs

An optical nanothermometer technique based on laser trapping, moving and targeted attaching an erbium oxide nanoparticle cluster is developed to measure the local temperature. The authors apply this new nanoscale temperature measuring technique (limited by the size of the nanoparticles) to measure the temperature of vapor nucleation in water. Vapor nucleation is observed after superheating water above the boiling point for degassed and nondegassed water. The average nucleation temperature for water without gas is 560 K but this temperature is lowered by 100 K when gas is introduced into the water. The authors are able to measure the temperature inside the bubble during bubble formation and find that the temperature inside the bubble spikes to over 1000 K because the heat source (optically‐heated nanorods) is no longer connected to liquid water and heat dissipation is greatly reduced.     

Connectionism isn't magic

Ramsey, Stich and Garon's recent paper Connectionism, Eliminativism, and the Future of Folk Psychology claims a certain style of connectionism to be the final nail in the coffin of folk psychology. I argue that their paper fails to show this, and that the style of connectionism they illustrate can in fact supplement, rather than compete with, the claims of a theory of cognition based in folk psychology's ontology. Ramsey, Stich and Garon's argument relies on the lack of easily identifiable symbols inside the connectionist network they discuss, and they suggest that the existence of a system which behaves in a cognitively interesting way, but which cannot be explained by appeal to internal symbol processing, falsifies central assumptions of folk psychology. My claim is that this argument is flawed, and that the theorist need not discard folk psychology in order to accept that the network illustrated exhibits cognitively interesting behaviour, even if it is conceded that symbols cannot be readily identified within the network.This paper was in part prepared whilst I was a Vacation Scholar at the Automated Reasoning Project, Australian National University. It was presented in its present form to the Department of Philosophy, Institute of Advanced Studies, ANU. I owe a deep gratitude to many people who read and commented on earlier drafts of this paper, especially Phillip Staines and Phillip Cam from UNSW, Ed Mares from the Automated Reasoning Project at the ANU, and Frank Jackson, Karen Neander and David Braddon-Mitchell from the Philosophy Department, IAS, ANU. All the paper's faults are, of course, mine.     

Pain and dissociation in the cold pressor test: A study of hypnotic analgesia with "hidden reports" through automatic key pressing and automatic talking.

To test whether pain blocked by hypnotic analgesia may still be perceived at some level, 20 highly hypnotizable undergraduates participated in an experiment involving cold pressor pain in the normal condition and in hypnotically suggested analgesia. 3 reports were obtained reflecting felt pain within the hypnotic analgesia condition: the usual verbal report on a numerical scale, a manual report by "automatic key pressing," and a retrospective verbal report through "automatic talking." 9 Ss who were amnesic for both keypressing and automatic talking reported more pain in the automatic (hidden) reports than in their usual verbal reports. 8 of these 9, following release of amnesia, had a clear perception of 2 levels of awareness of the pain: the usual hypnotic experience of pain attenuated by analgesia suggestions, and a knowledge at another level of a more severe pain. In no case, however, did an S give a retrospective report of normal suffering at this "hidden" level. The hypnotically analgesic S may have reported no pain verbally because he was amnesic for it; when amnesia was removed he recalled the sensory pain, but without a suffering component, because suffering apparently did not occur. (24 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

LOSING CLARITY Data,Information, and Knowledge Administration

Abstract

Learning to live with, and then take advantage of, changing roles and responsibilities may be one of the greatest challenges a mature information systems specialist faces today.