This paper is concerned with motion planning for non-linear robotic systems operating in constrained environments. A method for computing high-quality trajectories is proposed building upon recent developments in sampling-based motion planning and stochastic optimization. The idea is to equip sampling-based methods with a probabilistic model that serves as a sampling distribution and to increme...

In dynamic linear models (DLMs) with unknown fixed parameters, a standard Markov chain Monte Carlo (MCMC) sampling strategy is to alternate sampling of latent states conditional on fixed parameters and sampling of fixed parameters conditional on latent states. In some regions of the parameter space, this standard data augmentation (DA) algorithm can be inefficient. To improve efficiency, we app...

PURPOSE Fitting tracer kinetic models using linear methods is much faster than using their nonlinear counterparts, although this comes often at the expense of reduced accuracy and precision. The aim of this study was to derive and compare the performance of the linear compartmental tissue uptake (CTU) model with its nonlinear version with respect to their percentage error and precision. THEOR...

We present an adaptation of the ART-nouveau energy surface sampling method to the problem of loop structure prediction. This method, previously used to study protein folding pathways and peptide aggregation, is well suited to the problem of sampling the conformation space of large loops by targeting probable folding pathways instead of sampling exhaustively that space. The number of sampled con...

recently, gasimov and yenilmez proposed an approach for solving two kinds of fuzzy linear programming (flp) problems. through the approach, each flp problem is first defuzzified into an equivalent crisp problem which is non-linear and even non-convex. then, the crisp problem is solved by the use of the modified subgradient method. in this paper we will have another look at the earlier defuzzifi...

A multi-rate discrete-time model, whose response agrees exactly with that of a continuous-time original at all sampling instants for any sampling periods, is developed for a linear system, which is assumed to have multiple real eigenvalues. The sampling rates can be chosen arbitrarily and individually, so that their ratios can even be irrational. The state space model is obtained as a combinati...