Motion planning of autonomous vehicles in a non-autonomous vehicle environment without speed lanes

Planning is one of the key problems for autonomous vehicles operating in road scenarios. Present planning algorithms operate with the assumption that traffic is organised in predefined speed lanes, which makes it impossible to allow autonomous vehicles in countries with unorganised traffic. Unorganised traffic is though capable of higher traffic bandwidths when constituting vehicles vary in their speed capabilities and sizes. Diverse vehicles in an unorganised exhibit unique driving behaviours which are analysed in this paper by a simulation study. The aim of the work reported here is to create a planning algorithm for mixed traffic consisting of both autonomous and non-autonomous vehicles without any inter-vehicle communication. The awareness (e.g. vision) of every vehicle is restricted to nearby vehicles only and a straight infinite road is assumed for decision making regarding navigation in the presence of multiple vehicles. Exhibited behaviours include obstacle avoidance, overtaking, giving way for vehicles to overtake from behind, vehicle following, adjusting the lateral lane position and so on. A conflict of plans is a major issue which will almost certainly arise in the absence of inter-vehicle communication. Hence each vehicle needs to continuously track other vehicles and rectify plans whenever a collision seems likely. Further it is observed here that driver aggression plays a vital role in overall traffic dynamics, hence this has also been factored in accordingly. This work is hence a step forward towards achieving autonomous vehicles in unorganised traffic, while similar effort would be required for planning problems such as intersections, mergers, diversions and other modules like localisation.

Dynamic picture of the inner asteroid belt: implications for the density, size and taxonomic distributions of real objects

In this paper, we construct a dynamic portrait of the inner asteroidal belt. We use information about the distribution of test particles, which were initially placed on a perfectly rectangular grid of initial conditions, after 4.2 Myr of gravitational interactions with the Sun and five planets, from Mars to Neptune. Using the spectral analysis method introduced by Michtchenko et al., the asteroidal behaviour is illustrated in detail on the dynamical, averaged and frequency maps. On the averaged and frequency maps, we superpose information on the proper elements and proper frequencies of real objects, extracted from the data base, AstDyS, constructed by Milani and Knezevic. A comparison of the maps with the distribution of real objects allows us to detect possible dynamical mechanisms acting in the domain under study; these mechanisms are related to mean-motion and secular resonances. We note that the two- and three-body mean-motion resonances and the secular resonances (strong linear and weaker non-linear) have an important role in the diffusive transportation of the objects. Their long-lasting action, overlaid with the Yarkovsky effect, may explain many observed features of the density, size and taxonomic distributions of the asteroids.

Dynamic portrait of the planetary 2/1 mean-motion resonance - II. Systems with a more massive inner planet

This paper presents the second part in our study of the global structure of the planar phase space of the planetary three-body problem, when both planets lie in the vicinity of a 2/1 mean-motion resonance. While Paper I was devoted to cases where the outer planet is the more massive body, the present work is devoted to the cases where the more massive body is the inner planet. As before, outside the well-known Apsidal Corotation Resonances (ACR), the phase space shows a complex picture marked by the presence of several distinct regimes of resonant and non-resonant motion, crossed by families of periodic orbits and separated by chaotic zones. When the chosen values of the integrals of motion lead to symmetric ACR, the global dynamics are generally similar to the structure presented in Paper I. However, for asymmetric ACR the resonant phase space is strikingly different and shows a galore of distinct dynamical states. This structure is shown with the help of dynamical maps constructed on two different representative planes, one centred on the unstable symmetric ACR and the other on the stable asymmetric equilibrium solution. Although the study described in the work may be applied to any mass ratio, we present a detailed analysis for mass values similar to the Jupiter-Saturn case. Results give a global view of the different dynamical states available to resonant planets with these characteristics. Some of these dynamical paths could have marked the evolution of the giant planets of our Solar system, assuming they suffered a temporary capture in the 2/1 resonance during the latest stages of the formation of our Solar system.

A new proposal for the picture changing operators in the minimal pure spinor formalism

Using a new proposal for the ""picture lowering"" operators, we compute the tree level scattering amplitude in the minimal pure spinor formalism by performing the integration over the pure spinor space as a multidimensional Cauchy-type integral. The amplitude will be written in terms of the projective pure spinor variables, which turns out to be useful to relate rigorously the minimal and non-minimal versions of the pure spinor formalism. The natural language for relating these formalisms is the. Cech-Dolbeault isomorphism. Moreover, the Dolbeault cocycle corresponding to the tree-level scattering amplitude must be evaluated in SO(10)/SU(5) instead of the whole pure spinor space, which means that the origin is removed from this space. Also, the. Cech-Dolbeault language plays a key role for proving the invariance of the scattering amplitude under BRST, Lorentz and supersymmetry transformations, as well as the decoupling of unphysical states. We also relate the Green`s function for the massless scalar field in ten dimensions to the tree-level scattering amplitude and comment about the scattering amplitude at higher orders. In contrast with the traditional picture lowering operators, with our new proposal the tree level scattering amplitude is independent of the constant spinors introduced to define them and the BRST exact terms decouple without integrating over these constant spinors.

Aspects of classical and quantum motion on a flux cone

Motion of a nonrelativistic particle on a cone with a magnetic flux running through the cone axis (a flux cone) is studied. It is expressed as the motion of a particle moving on the Euclidean plane under the action of a velocity-dependent force. The probability fluid (quantum flow) associated with a particular stationary state is studied close to the singularity, demonstrating nontrivial Aharonov-Bohm effects. For example, it is shown that, near the singularity, quantum flow departs from classical flow. In the context of the hydrodynamical approach to quantum mechanics, quantum potential due to the conical singularity is determined, and the way it affects quantum flow is analyzed. It is shown that the winding number of classical orbits plays a role in the description of the quantum Bow. The connectivity of the configuration space is also discussed.

de Sitter geodesics: reappraising the notion of motion

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

A new proposal for the picture changing operators in the minimal pure spinor formalism

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

QED(3) RADIATIVE-CORRECTIONS IN THE HEISENBERG PICTURE

We evaluate the vacuum polarization tensor for three-dimensional quantum electrodynamics (QED3) via Heisenberg equations of motion in order to clarify the problem arising from the use of different regularization prescriptions in the interaction picture. We conclude that the photon does acquire physical mass of topological origin when such contribution is taken into account for the photon propagator.

The thermohydrodynamical picture of a charged Brownian particle

We study a charged Brownian gas with a non uniform bath temperature, and present a thermohydrodynamical picture. Expansion on the collision time probes the validity of the local equilibrium approach and the relevant thermodynamical variables. For the linear regime we present several applications (some novel).

Charged Brownian particles: Kramers and Smoluchowski equations and the hydrothermodynamical picture

We consider a charged Brownian gas under the influence of external and non-uniform electric, magnetic and mechanical fields, immersed in a non-uniform bath temperature. With the collision time as an expansion parameter, we study the solution to the associated Kramers equation, including a linear reactive term. To the first order we obtain the asymptotic (overdamped) regime, governed by transport equations, namely: for the particle density, a Smoluchowski- reactive like equation; for the particle's momentum density, a generalized Ohm's-like equation; and for the particle's energy density, a MaxwellCattaneo-like equation. Defining a nonequilibrium temperature as the mean kinetic energy density, and introducing Boltzmann's entropy density via the one particle distribution function, we present a complete thermohydrodynamical picture for a charged Brownian gas. We probe the validity of the local equilibrium approximation, Onsager relations, variational principles associated to the entropy production, and apply our results to: carrier transport in semiconductors, hot carriers and Brownian motors. Finally, we outline a method to incorporate non-linear reactive kinetics and a mean field approach to interacting Brownian particles. © 2011 Elsevier B.V. All rights reserved.

Hot Brownian carriers in the Langevin picture: Application to a simple model for the Gunn effect in GaAs

We consider a charged Brownian gas under the influence of external, static and uniform electric and magnetic fields, immersed in a uniform bath temperature. We obtain the solution for the associated Langevin equation, and thereafter the evolution of the nonequilibrium temperature towards a nonequilibrium (hot) steady state. We apply our results to a simple yet relevant Brownian model for carrier transport in GaAs. We obtain a negative differential conductivity regime (Gunn effect) and discuss and compare our results with the experimental results. © 2013.

Motion control and real-time systems: an approach to trajectory rebuilding in non-deterministic networks

Motion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device. In motion control the position, velocity, force, pressure, etc., profiles are designed in such a way that the different mechanical parts work as an harmonious whole in which a perfect synchronization must be achieved. The real-time exchange of information in the distributed system that is nowadays an industrial plant plays an important role in order to achieve always better performance, better effectiveness and better safety. The network for connecting field devices such as sensors, actuators, field controllers such as PLCs, regulators, drive controller etc., and man-machine interfaces is commonly called fieldbus. Since the motion transmission is now task of the communication system, and not more of kinematic chains as in the past, the communication protocol must assure that the desired profiles, and their properties, are correctly transmitted to the axes then reproduced or else the synchronization among the different parts is lost with all the resulting consequences. In this thesis, the problem of trajectory reconstruction in the case of an event-triggered communication system is faced. The most important feature that a real-time communication system must have is the preservation of the following temporal and spatial properties: absolute temporal consistency, relative temporal consistency, spatial consistency. Starting from the basic system composed by one master and one slave and passing through systems made up by many slaves and one master or many masters and one slave, the problems in the profile reconstruction and temporal properties preservation, and subsequently the synchronization of different profiles in network adopting an event-triggered communication system, have been shown. These networks are characterized by the fact that a common knowledge of the global time is not available. Therefore they are non-deterministic networks. Each topology is analyzed and the proposed solution based on phase-locked loops adopted for the basic master-slave case has been improved to face with the other configurations.

Plays /

v. 1. Advertisement to the second edition. Introduction; Essay on the writings of Massinger / by John Ferriar, &c. The virgin-martyr. The unnatural combat. The Duke of Milan -- v. 2. The bondman. The renegado. The parilament of love. The Roman actor. The great Duke of Florence -- v. 3. The maid of honour. The picture. The Emperor of the East. The fatal dowry. A new way to pay old debts -- v. 4. The city madam. The guardian. A very woman. The bashful lover. The old law.

The Moving picture world.

Mode of access: Internet.

The plays of Philip Massinger, in four volumes.

v. 1. Introduction; Essay on the dramatick writings of Massinger, by John Ferriar; Commendatory verses on Massinger; A list of Massinger's plays; Glossarial index. The virgin-martyr. The unnatural combat. The Duke of Milan.--v. 2. The bondman. The renegade. The parliament of love. The Roman actor. The great Duke of Florence.--v. 3. The maid of honour. The picture. The Emperor of the East. The fatal dowry. A new way to pay old debts.--v. 4. The city madam. The guardian. A very woman. The bashful lover. The old law.