An intelligent configuration-sampling based local motion planner for robotic manipulators

Manipulator motion planning is a task which relies heavily on the construction of a configuration space prior to path planning. However when fast real-time motion is needed, the full construction of the manipulator's high-dimensional configu-ration space can be too slow and expensive. Alternative planning methods, which avoid this full construction of the manipulator's configuration space are needed to solve this problem. Here, one such existing local planning method for manipulators based on configuration-sampling and subgoal-selection has been extended. Using a modified Artificial Potential Fields (APF) function, goal-configuration sampling and a novel subgoal selection method, it provides faster, more optimal paths than the previously proposed work. Simulation results show a decrease in both runtime and path lengths, along with a decrease in unexpected local minimum and crashing issues.

Surrogate-Based Optimization Using Multifidelity Models with Variable Parameterization and Corrected Space Mapping

Surrogate-based-optimization methods provide a means to achieve high-fidelity design optimization at reduced computational cost by using a high-fidelity model in combination with lower-fidelity models that are less expensive to evaluate. This paper presents a provably convergent trust-region model-management methodology for variableparameterization design models: that is, models for which the design parameters are defined over different spaces. Corrected space mapping is introduced as a method to map between the variable-parameterization design spaces. It is then used with a sequential-quadratic-programming-like trust-region method for two aerospace-related design optimization problems. Results for a wing design problem and a flapping-flight problem show that the method outperforms direct optimization in the high-fidelity space. On the wing design problem, the new method achieves 76% savings in high-fidelity function calls. On a bat-flight design problem, it achieves approximately 45% time savings, although it converges to a different local minimum than did the benchmark.

Anisotropic seismic inversion using a multigrid Monte Carlo approach

We propose a new approach for the inversion of anisotropic P-wave data based on Monte Carlo methods combined with a multigrid approach. Simulated annealing facilitates objective minimization of the functional characterizing the misfit between observed and predicted traveltimes, as controlled by the Thomsen anisotropy parameters (epsilon, delta). Cycling between finer and coarser grids enhances the computational efficiency of the inversion process, thus accelerating the convergence of the solution while acting as a regularization technique of the inverse problem. Multigrid perturbation samples the probability density function without the requirements for the user to adjust tuning parameters. This increases the probability that the preferred global, rather than a poor local, minimum is attained. Undertaking multigrid refinement and Monte Carlo search in parallel produces more robust convergence than does the initially more intuitive approach of completing them sequentially. We demonstrate the usefulness of the new multigrid Monte Carlo (MGMC) scheme by applying it to (a) synthetic, noise-contaminated data reflecting an isotropic subsurface of constant slowness, horizontally layered geologic media and discrete subsurface anomalies; and (b) a crosshole seismic data set acquired by previous authors at the Reskajeage test site in Cornwall, UK. Inverted distributions of slowness (s) and the Thomson anisotropy parameters (epsilon, delta) compare favourably with those obtained previously using a popular matrix-based method. Reconstruction of the Thomsen epsilon parameter is particularly robust compared to that of slowness and the Thomsen delta parameter, even in the face of complex subsurface anomalies. The Thomsen epsilon and delta parameters have enhanced sensitivities to bulk-fabric and fracture-based anisotropies in the TI medium at Reskajeage. Because reconstruction of slowness (s) is intimately linked to that epsilon and delta in the MGMC scheme, inverted images of phase velocity reflect the integrated effects of these two modes of anisotropy. The new MGMC technique thus promises to facilitate rapid inversion of crosshole P-wave data for seismic slownesses and the Thomsen anisotropy parameters, with minimal user input in the inversion process.

Phylogeographic analysis of North American populations of the parasitic herbaceous plant Monotropa hypopitys reveals a complex history of range expansion from multiple late glacial refugia

Aim We carried out a phylogeographic study across the range of the herbaceous plant species Monotropa hypopitys L. in North America to determine whether its current disjunct distribution is due to recolonization from separate eastern and western refugia after the Last Glacial Maximum (LGM). Location North America: Pacific Northwest and north-eastern USA/south-eastern Canada. Methods Palaeodistribution modelling was carried out to determine suitable climatic regions for M. hypopitys at the LGM. We analysed between 155 and 176 individuals from 39 locations spanning the species' entire range in North America. Sequence data were obtained for the chloroplast rps2 gene (n=168) and for the nuclear ITS region (n=158). Individuals were also genotyped for eight microsatellite loci (n=176). Interpolation of diversity values was used to visualize the range-wide distribution of genetic diversity for each of the three marker classes. Minimum spanning networks were constructed showing the relationships between the rps2 and ITS haplotypes, and the geographical distributions of these haplotypes were plotted. The numbers of genetic clusters based on the microsatellite data were estimated using Bayesian clustering approaches. Results The palaeodistribution modelling indicated suitable climate envelopes for M. hypopitys at the LGM in both the Pacific Northwest and south-eastern USA. High levels of genetic diversity and endemic haplotypes were found in Oregon, the Alexander Archipelago, Wisconsin, and in the south-eastern part of the species' distribution range. Main conclusions Our results suggest a complex recolonization history for M. hypopitys in North America, involving persistence in separate eastern and western refugia. A generally high degree of congruence between the different marker classes analysed indicated the presence of multiple refugia, with at least two refugia in each area. In the west, putative refugia were identified in Oregon and the Alexander Archipelago, whereas eastern refugia may have been located in the southern part of the species' current distribution, as well as in the 'Driftless Area'. These findings are in contrast to a previous study on the related species Orthilia secunda, which has a similar disjunct distribution to M. hypopitys, but which appears to have recolonized solely from western refugia. © 2011 Blackwell Publishing Ltd.

The Forgiving Graph: a distributed data structure for low stretch under adversarial attack

We consider the problem of self-healing in peer-to-peer networks that are under repeated attack by an omniscient adversary. We assume that, over a sequence of rounds, an adversary either inserts a node with arbitrary connections or deletes an arbitrary node from the network. The network responds to each such change by quick “repairs,” which consist of adding or deleting a small number of edges. These repairs essentially preserve closeness of nodes after adversarial deletions, without increasing node degrees by too much, in the following sense. At any point in the algorithm, nodes v and w whose distance would have been l in the graph formed by considering only the adversarial insertions (not the adversarial deletions), will be at distance at most l log n in the actual graph, where n is the total number of vertices seen so far. Similarly, at any point, a node v whose degree would have been d in the graph with adversarial insertions only, will have degree at most 3d in the actual graph. Our distributed data structure, which we call the Forgiving Graph, has low latency and bandwidth requirements. The Forgiving Graph improves on the Forgiving Tree distributed data structure from Hayes et al. (2008) in the following ways: 1) it ensures low stretch over all pairs of nodes, while the Forgiving Tree only ensures low diameter increase; 2) it handles both node insertions and deletions, while the Forgiving Tree only handles deletions; 3) it requires only a very simple and minimal initialization phase, while the Forgiving Tree initially requires construction of a spanning tree of the network.

The Forgiving Graph:A distributed data structure for low stretch under adversarial attack

We consider the problem of self-healing in peer-to-peer networks that are under repeated attack by an omniscient adversary. We assume that, over a sequence of rounds, an adversary either inserts a node with arbitrary connections or deletes an arbitrary node from the network. The network responds to each such change by quick "repairs," which consist of adding or deleting a small number of edges. These repairs essentially preserve closeness of nodes after adversarial deletions,without increasing node degrees by too much, in the following sense. At any point in the algorithm, nodes v and w whose distance would have been - in the graph formed by considering only the adversarial insertions (not the adversarial deletions), will be at distance at most - log n in the actual graph, where n is the total number of vertices seen so far. Similarly, at any point, a node v whose degreewould have been d in the graph with adversarial insertions only, will have degree at most 3d in the actual graph. Our distributed data structure, which we call the Forgiving Graph, has low latency and bandwidth requirements. The Forgiving Graph improves on the Forgiving Tree distributed data structure from Hayes et al. (2008) in the following ways: 1) it ensures low stretch over all pairs of nodes, while the Forgiving Tree only ensures low diameter increase; 2) it handles both node insertions and deletions, while the Forgiving Tree only handles deletions; 3) it requires only a very simple and minimal initialization phase, while the Forgiving Tree initially requires construction of a spanning tree of the network. © Springer-Verlag 2012.

Two-Stage Orthogonal Least Squares Methods for Neural Network Construction

A number of neural networks can be formulated as the linear-in-the-parameters models. Training such networks can be transformed to a model selection problem where a compact model is selected from all the candidates using subset selection algorithms. Forward selection methods are popular fast subset selection approaches. However, they may only produce suboptimal models and can be trapped into a local minimum. More recently, a two-stage fast recursive algorithm (TSFRA) combining forward selection and backward model refinement has been proposed to improve the compactness and generalization performance of the model. This paper proposes unified two-stage orthogonal least squares methods instead of the fast recursive-based methods. In contrast to the TSFRA, this paper derives a new simplified relationship between the forward and the backward stages to avoid repetitive computations using the inherent orthogonal properties of the least squares methods. Furthermore, a new term exchanging scheme for backward model refinement is introduced to reduce computational demand. Finally, given the error reduction ratio criterion, effective and efficient forward and backward subset selection procedures are proposed. Extensive examples are presented to demonstrate the improved model compactness constructed by the proposed technique in comparison with some popular methods.

Stable oxygen isotopes in irish oaks: potential for reconstructing local and regional climate

The long Irish oak tree-ring chronology, developed for archaeological dating and radiocarbon calibration, is the longest of any in northwest maritime Europe, spanning most of the Holocene (7,272 years). Unfortunately, the rings widths do not carry a strong climate signal and the record hasnever been satisfactorily applied for dendroclimatic reconstruction. This pilot study explores the potential for extracting a climate signal from Irish oaks by comparing the stable oxygen isotopes ratios from 10 oak tree cores (Quercus robur and Quercus petraea L.) collected across the Armagh region of NE Ireland with local and regional climatic and stable isotopic data. Statistically significant correlations between isotope ratios and the amount of summer precipitation (r = -0.44) point to the isotopic composition of summer rainfall as the dominant signal. Including the Armagh data into an extended regional oxygen isotope series did not reduce the correlation coefficient with regional precipitation (r = -0.68, p < 0.01). Correlations of this magnitude in dendro-hydroclimatology are typically restricted to trees growing at their ecological limits. This research suggests that there is considerable potential for including living trees and ancient timbers from Ireland into a regional composite to reconstruct the summer hydroclimate of Britain and Ireland.

Chironomid-based reconstructions of summer air temperature from lake deposits in Lyndon Stream, New Zealand spanning the MIS 3/2 transition

We present chironomid-based temperature reconstructions from lake sediments deposited between ca 26,600 cal yr BP and 24,500 cal yr BP from Lyndon Stream, South Island, New Zealand. Summer (February mean) temperatures averaged 1 1C cooler, with a maximum inferred cooling of 3.7 1C. These estimates corroborate macrofossil and beetle-based temperature inferences from the same site and suggest climate amelioration (an interstadial) at this time. Other records from the New Zealand region also show a large degree of variability during the late Otiran glacial sequence (34,000–18,000 cal yr BP) including a phase of warming at the MIS 2/3 transition and a maximum cooling that did not occur until the global LGM (ca 20,000 cal yr BP). The very moderate cooling identified here at the MIS 2/3 transition confirms and enhances the long-standing discrepancy in New Zealand records between pollen and other proxies. Low abundances (o20%) of canopy tree pollen in records from late MIS 3 to the end of MIS 2 cannot be explained by the minor (o5 1C) cooling inferred from this and other studies unless other environmental parameters are considered. Further work is required to address this critical issue.

In vitro activity of tea-tree oil against clinical skin isolates of meticillin-resistant and -sensitive Staphylococcus aureus and coagulase-negative staphylococci growing planktonically and as biofilms

The susceptibility of Staphylococcus aureus [meticillin-resistant (MRSA) and meticillin-sensitive (MSSA)] and coagulase-negative staphylococci (CoNS), which respectively form part of the transient and commensal skin flora, to tea-tree oil (TTO) was compared using broth microdilution and quantitative in vitro time-kill test methods. MRSA and MSSA isolates were significantly less susceptible than CoNS isolates, as measured by both MIC and minimum bactericidal concentration. A significant decrease in the mean viable count of all isolates in comparison with the control was seen at each time interval in time-kill assays. However, the only significant difference in the overall mean log(10) reduction in viable count between the groups of isolates was between CoNS and MSSA at 3 h, with CoNS isolates demonstrating a significantly lower mean reduction. To provide a better simulation of in vivo conditions on the skin, where bacteria are reported to grow as microcolonies encased in glycocalyx, the bactericidal activity of TTO against isolates grown as biofilms was also compared. Biofilms formed by MSSA and MRSA isolates were completely eradicated following exposure to 5 % TTO for 1 h. In contrast, of the biofilms formed by the nine CoNS isolates tested, only five were completely killed, although a reduction in viable count was apparent for the other four isolates. These results suggest that TTO exerts a greater bactericidal activity against biofilm-grown MRSA and MSSA isolates than against some biofilm-grown CoNS isolates.

Comparison of two construction algorithms for local model networks

The divide-and-conquer approach of local model (LM) networks is a common engineering approach to the identification of a complex nonlinear dynamical system. The global representation is obtained from the weighted sum of locally valid, simpler sub-models defined over small regions of the operating space. Constructing such networks requires the determination of appropriate partitioning and the parameters of the LMs. This paper focuses on the structural aspect of LM networks. It compares the computational requirements and performances of the Johansen and Foss (J&F) and LOLIMOT tree-construction algorithms. Several useful and important modifications to each algorithm are proposed. The modelling performances are evaluated using real data from a pilot plant of a pH neutralization process. Results show that while J&F achieves a more accurate nonlinear representation of the pH process, LOLIMOT requires significantly less computational effort.

High density mangrove plantation enhances surface accretion, surface elevation change, and tree survival in coastal areas susceptible to sea-level rise

Survival, growth, above ground biomass accumulation, soil surface elevation dynamics and nitrogen accumulation in accreted sediments were studied in experimental treatments planted with four different densities (6.96, 3.26, 1.93 and 0.95 seedlings m-2) of the mangrove Rhizophora mucronata in Puttalam Lagoon, Sri Lanka. Measurements were taken over a period of 1171 days and were compared with those from unplanted controls. Trees at the lowest density showed significantly reduced survival, whilst measures of individual tree growth did not differ significantly among treatments. Rates of surface sediment accretion (means ± S.E.) were 13.0 (±1.3), 10.5 (±0.9), 8.4 (±0.3), 6.9 (±0.5) and 5.7 (±0.3) mm yr-1 at planting densities of 6.96, 3.26, 1.93, 0.95, and 0 (unplanted control) seedlings m-2, respectively, showing highly significant differences among treatments. Mean (± S.E.) rates of surface elevation change were much lower than rates of accretion at 2.8 (±0.2), 1.6 (±0.1), 1.1 (±0.2), 0.6 (±0.2) and -0.3 (±0.1) mm yr-1 for 6.96, 3.26, 1.93, 0.95, and 0 seedlings m-2, respectively. All planted treatments appeared to accumulate greater nitrogen concentrations in the sediment compared to the unplanted control, and suggests one potential causal mechanism for the facilitatory effects observed; high densities of plants potentially contribute to the accretion of greater amounts of nutrient rich sediment. While this potential process needs further study, this study demonstrated how higher densities of mangroves enhance rates of sediment accretion and surface elevation, processes that may be crucial in mangrove ecosystem adaptation to sea level rise. There was no evidence that increasing plant density evoked a trade-off with growth and survival of the planted trees. Rather facilitatory effects enhanced survival at high densities, suggesting that local land managers may be able to take advantage of plantation densities to help mitigate sea-level rise effects by encouraging positive soil surface elevation increment, and perhaps even greater nutrient retention to promote mangrove growth and ameliorate nearshore eutrophication in tropical island environments.

Approximating the Set of Local Minima in Partial RNA Folding Landscapes

Motivation: We study a stochastic method for approximating the set of local minima in partial RNA folding landscapes associated with a bounded-distance neighbourhood of folding conformations. The conformations are limited to RNA secondary structures without pseudoknots. The method aims at exploring partial energy landscapes pL induced by folding simulations and their underlying neighbourhood relations. It combines an approximation of the number of local optima devised by Garnier and Kallel (2002) with a run-time estimation for identifying sets of local optima established by Reeves and Eremeev (2004).

Results: The method is tested on nine sequences of length between 50 nt and 400 nt, which allows us to compare the results with data generated by RNAsubopt and subsequent barrier tree calculations. On the nine sequences, the method captures on average 92% of local minima with settings designed for a target of 95%. The run-time of the heuristic can be estimated by O(n2D?ln?), where n is the sequence length, ? is the number of local minima in the partial landscape pL under consideration and D is the maximum number of steepest descent steps in attraction basins associated with pL.

Kernel-based local order estimation of nonlinear nonparametric systems

We consider the local order estimation of nonlinear autoregressive systems with exogenous inputs (NARX), which may have different local dimensions at different points. By minimizing the kernel-based local information criterion introduced in this paper, the strongly consistent estimates for the local orders of the NARX system at points of interest are obtained. The modification of the criterion and a simple procedure of searching the minimum of the criterion, are also discussed. The theoretical results derived here are tested by simulation examples.