Cooperative motion planning is still a challenging task for robots. Recently, Value Iteration Networks (VINs) were proposed to model motion planning tasks as Neural Networks. In this work, we extend VINs to solve cooperative planning tasks under non-holonomic constraints. For this, we interconnect multiple VINs to pay respect to each other’s outputs. Policies for cooperation are generated via i...

Background: The extensive education on contraceptive methods, particularly in rural areas of developing countries, play a pivotal role in preventing of induced abortion. The main purpose of this study was to determine the prevalence and major cause of induced abortion in women in northwestern Iran. Materials and Methods: The hospital documentary of 848 women encountering medical examinations du...

Let F/Q be a number field. The space of positive definite binary Hermitian forms over F form an open cone in a real vector space. There is a natural decomposition of this cone into subcones. In the case of an imaginary quadratic field these subcones descend to hyperbolic space to give rise to tessellations of 3-dimensional hyperbolic space by ideal polytopes. We compute the structure of these p...

Two patients are reported with contralateral hemiparesis including a face of supranuclear type, caused by an infarct of the unilateral ventromedial part of the upper medulla. Data from these patients support the hypothesis that part of the corticobulbar fibres supplying the lower facial muscles descend ipsilaterally in the ventromedial part of the upper medulla and then, after decussation, asce...

We give character formulae for the positive energy unitary irreducible representations of the N-extended D=4 conformal superalgebras su(2,2/N). Using these we also derive decompositions of long superfields as they descend to the unitarity threshold. These results are also applicable to irreps of the complex Lie superalgebras sl(4/N). Our derivations use results from the representation theory of...

Thyroglossal duct cysts develop from remnants of the thyroid anlage that descend from the foramen cecum on the base of the tongue between the fourth and seventh weeks of development [1]. The thyroid primordium passes either anterior, posterior, or through the hyoid bone in its descent in the midline of the neck. This leaves a possibility that thyroid remnants may persist at any site along this ...

We give character formulae for the positive energy unitary irreducible representations of the N-extended D=4 conformal superalgebras su(2,2/N). Using these we also derive decompositions of long superfields as they descend to the unitarity threshold. These results are also applicable to irreps of the complex Lie superalgebras sl(4/N). Our derivations use results from the representation theory of...

A new Student’s t-distribution finite mixture model is proposed which incorporates the local spatial information of the pixels. The pixels’ label probability proportions are explicitly modelled as probability vectors in the proposed model. We use the gradient descend method to estimate the parameters of the proposed model. Comprehensive experiments are performed for synthetic and natural graysc...

RHex is a hexapod robot with compliant legs and only six actuated degrees of freedom. Its ability to traverse highly fractured and unstable terrain has already been documented. In this paper, we describe open loop controllers for our small robot to climb and descend regular stairs. The reliability is 90% (9/10) for climbing and 100% (10/10) for descending, based on ten successive trials. Specif...

Charge impurities in graphene can host an infinite family of Rydberg-like resonance states of massless Dirac particles. These states, appearing for supercritical charge, are described by Bohr-Sommerfeld quantization of collapsing classical trajectories that descend on point charge, in analogy to the hydrogenic Rydberg states relation with planetary orbits. Strong tunnel coupling of these states...