1,005 research outputs found
Investigation and application of reverberation measurements in water
No full textA method of determining acoustic power output of underwater sound sources is presented employing reverberation techniques similar to those employed in air. Two possible approaches were taken. One following the ideas of R. W. Young, which includes the effect of the direct wave and by use of a correction factor eliminates its effect on the resultant power, which requires knowledge of a steady state average pressure a decay rate, and an average absorption coefficient. The second follows the idea presented in "Fundamentals of Acoustics" by Kinsler and Frey which requires knowledge of only a steady state average pressure and decay rate. Both methods yield results consistent to within one decibel of a standard acoustic power as determined by pulse techniques. A test setup is proposed for use of this technique with comments given as to desirable characteristics of equipment. The writers wish to express their appreciation for the assistance and encouragement given them in this investigation by Professor L. E. Kinsler of the U.S. Naval Postgraduate School and also to Miss Delores Price of U.S. Navy Electronics Laboratory for assistance in calibration of LC-32 hydrophones used. This investigation was carried out under the sponsorship of the Office of Naval Research and was conducted entirely at the U.S. Naval Postgraduate School, Monterey, California.Approved for public release; distribution is unlimited.Lieutenant Commander, United States NavyLieutenant, United States Navyhttp://archive.org/details/investigationndp109451238
Algorithm D*
No full textPath planning is an important part of the navigation of autonomous mobile robots. Mobile robots often operate in a partially or entirely unknown world. In fact, it would be impractical for a robot to fully know the world before driving through it, as the robot would have to memorise a large quantity of data. It is also true that cases when information about the environment is entirely unknown prior to planning the path are very rare.
In 1994 Dr Anthony Stentz discovered algorithm D*, which combines global and local planning, and enables effcient use of information obtained from the prepared map of the environment and from the robot's sensors as it moves around the area. The algorithm is effective, because when it needs to find a new optimal path (replan) it makes use of the already calculated information instead of recalculating everything.
The diploma thesis examined several algorithms and techniques for finding optimal paths in graphs. Algorithms have been described which use uninformed techniques (BFS, DFS, and Iterative Deepening) for exploring, as well as informed techniques which use heuristic approaches for exploring. Since algorithm D* has several versions, these were also given a closer look. Thus in addition to algorithm D*, algorithms Focused D* and D* Lite were described as well. The algorithm D* Lite has been derived from algorithm LPA*, hence the latter was described too.
Algorithms D*, Focused D*, D* Lite and LPA* were implemented in the Python programming language, their speeds measured, and the results of the measurements presented at the conclusion of the paper
Measurements of branching fraction ratios and CP-asymmetries in suppressed B-→D(→K+π-)K- and B-→D(→K+π-)π- decays
No full textAaltonen, T., Álvarez González, B., Amerio, S., Amidei, D., Anastassov, A., Annovi, A., Antos, J., Apollinari, G., Appel, J.A., Apresyan, A., Arisawa, T., Artikov, A., Asaadi, J., Ashmanskas, W., Auerbach, B., Aurisano, A., Azfar, F., Badgett, W., Barbaro-Galtieri, A., Barnes, V.E., Barnett, B.A., Barria, P., Bartos, P., Bauce, M., Bauer, G., Bedeschi, F., Beecher, D., Behari, S., Bellettini, G., Bellinger, J., Benjamin, D., Beretvas, A., Bhatti, A., Binkley, M., Bisello, D., Bizjak, I., Bland, K.R., Blumenfeld, B., Bocci, A., Bodek, A., Bortoletto, D., Boudreau, J., Boveia, A., Brigliadori, L., Brisuda, A., Bromberg, C., Brucken, E., Bucciantonio, M., Budagov, J., Budd, H.S., Budd, S., Burkett, K., Busetto, G., Bussey, P., Buzatu, A., Calancha, C., Camarda, S., Campanelli, M., Campbell, M., Canelli, F., Carls, B., Carlsmith, D., Carosi, R., Carrillo, S., Carron, S., Casal, B., Casarsa, M., Castro, A., Catastini, P., Cauz, D., Cavaliere, V., Cavalli-Sforza, M., Cerri, A., Cerrito, L., Chen, Y.C., Chertok, M., Chiarelli, G., Chlachidze, G., Chlebana, F., Cho, K., Chokheli, D., Chou, J.P., Chung, W.H., Chung, Y.S., Ciobanu, C.I., Ciocci, M.A., Clark, A., Clarke, C., Compostella, G., Convery, M.E., Conway, J., Corbo, M., Cordelli, M., Cox, C.A., Cox, D.J., Crescioli, F., Cuenca Almenar, C., Cuevas, J., Culbertson, R., Dagenhart, D., D'Ascenzo, N., Datta, M., De Barbaro, P., De Cecco, S., De Lorenzo, G., Dell'Orso, M., Deluca, C., Demortier, L., Deng, J., Deninno, M., Devoto, F., D'Errico, M., Di Canto, A., Di Ruzza, B., Dittmann, J.R., D'Onofrio, M., Donati, S., Dong, P., Dorigo, M., Dorigo, T., Ebina, K., Elagin, A., Eppig, A., Erbacher, R., Errede, D., Errede, S., Ershaidat, N., Eusebi, R., Fang, H.C., Farrington, S., Feindt, M., Fernandez, J.P., Ferrazza, C., Field, R., Flanagan, G., Forrest, R., Frank, M.J., Franklin, M., Freeman, J.C., Funakoshi, Y., Furic, I., Gallinaro, M., Galyardt, J., Garcia, J.E., Garfinkel, A.F., Garosi, P., Gerberich, H., Gerchtein, E., Giagu, S., Giakoumopoulou, V., Giannetti, P., Gibson, K., Ginsburg, C.M., Giokaris, N., Giromini, P., Giunta, M., Giurgiu, G., Glagolev, V., Glenzinski, D., Gold, M., Goldin, D., Goldschmidt, N., Golossanov, A., Gomez, G., Gomez-Ceballos, G., Goncharov, M., González, O., Gorelov, I., Goshaw, A.T., Goulianos, K., Grinstein, S., Grosso-Pilcher, C., Group, R.C., Guimaraes Da Costa, J., Gunay-Unalan, Z., Haber, C., Hahn, S.R., Halkiadakis, E., Hamaguchi, A., Han, J.Y., Happacher, F., Hara, K., Hare, D., Hare, M., Harr, R.F., Hatakeyama, K., Hays, C., Heck, M., Heinrich, J., Herndon, M., Hewamanage, S., Hidas, D., Hocker, A., Hopkins, W., Horn, D., Hou, S., Hughes, R.E., Hurwitz, M., Husemann, U., Hussain, N., Hussein, M., Huston, J., Introzzi, G., Iori, M., Ivanov, A., James, E., Jang, D., Jayatilaka, B., Jeon, E.J., Jha, M.K., Jindariani, S., Johnson, W., Jones, M., Joo, K.K., Jun, S.Y., Junk, T.R., Kamon, T., Karchin, P.E., Kasmi, A., Kato, Y., Ketchum, W., Keung, J., Khotilovich, V., Kilminster, B., Kim, D.H., Kim, H.S., Kim, H.W., Kim, J.E., Kim, M.J., Kim, S.B., Kim, S.H., Kim, Y.K., Kimura, N., Kirby, M., Klimenko, S., Kondo, K., Kong, D.J., Konigsberg, J., Kotwal, A.V., Kreps, M., Kroll, J., Krop, D., Krumnack, N., Kruse, M., Krutelyov, V., Kuhr, T., Kurata, M., Kwang, S., Laasanen, A.T., Lami, S., Lammel, S., Lancaster, M., Lander, R.L., Lannon, K., Lath, A., Latino, G., Lecompte, T., Lee, E., Lee, H.S., Lee, J.S., Lee, S.W., Leo, S., Leone, S., Lewis, J.D., Limosani, A., Lin, C.-J., Linacre, J., Lindgren, M., Lipeles, E., Lister, A., Litvintsev, D.O., Liu, C., Liu, Q., Liu, T., Lockwitz, S., Loginov, A., Lucchesi, D., Lueck, J., Lujan, P., Lukens, P., Lungu, G., Lys, J., Lysak, R., Madrak, R., Maeshima, K., Makhoul, K., Malik, S., Manca, G., Manousakis-Katsikakis, A., Margaroli, F., Marino, C., Martínez, M., Martínez-Ballarín, R., Mastrandrea, P., Mattson, M.E., Mazzanti, P., McFarland, K.S., McIntyre, P., McNulty, R., Mehta, A., Mehtala, P., Menzione, A., Mesropian, C., Miao, T., Mietlicki, D., Mitra, A., Miyake, H., Moed, S., Moggi, N., Mondragon, M.N., Moon, C.S., Moore, R., Morello, M.J., Morlock, J., Movilla Fernandez, P., Mukherjee, A., Muller, T., Murat, P., Mussini, M., Nachtman, J., Nagai, Y., Naganoma, J., Nakano, I., Napier, A., Nett, J., Neu, C., Neubauer, M.S., Nielsen, J., Nodulman, L., Norniella, O., Nurse, E., Oakes, L., Oh, S.H., Oh, Y.D., Oksuzian, I., Okusawa, T., Orava, R., Ortolan, L., Pagan Griso, S., Pagliarone, C., Palencia, E., Papadimitriou, V., Paramonov, A.A., Patrick, J., Pauletta, G., Paulini, M., Paus, C., Pellett, D.E., Penzo, A., Phillips, T.J., Piacentino, G., Pianori, E., Pilot, J., Pitts, K., Plager, C., Pondrom, L., Poprocki, S., Potamianos, K., Poukhov, O., Prokoshin, F., Pronko, A., Ptohos, F., Pueschel, E., Punzi, G., Pursley, J., Rahaman, A., Ramakrishnan, V., Ranjan, N., Redondo, I., Renton, P., Rescigno, M., Riddick, T., Rimondi, F., Ristori, L., Robson, A., Rodrigo, T., Rodriguez, T., Rogers, E., Rolli, S., Roser, R., Rossi, M., Rubbo, F., Ruffini, F., Ruiz, A., Russ, J., Rusu, V., Safonov, A., Sakumoto, W.K., Sakurai, Y., Santi, L., Sartori, L., Sato, K., Saveliev, V., Savoy-Navarro, A., Schlabach, P., Schmidt, A., Schmidt, E.E., Schmidt, M.P., Schmitt, M., Schwarz, T., Scodellaro, L., Scribano, A., Scuri, F., Sedov, A., Seidel, S., Seiya, Y., Semenov, A., Sforza, F., Sfyrla, A., Shalhout, S.Z., Shears, T., Shepard, P.F., Shimojima, M., Shiraishi, S., Shochet, M., Shreyber, I., Simonenko, A., Sinervo, P., Sissakian, A., Sliwa, K., Smith, J.R., Snider, F.D., Soha, A., Somalwar, S., Sorin, V., Squillacioti, P., Stancari, M., Stanitzki, M., Denis, R.S., Stelzer, B., Stelzer-Chilton, O., Stentz, D., Strologas, J., Strycker, G.L., Sudo, Y., Sukhanov, A., Suslov, I., Takemasa, K., Takeuchi, Y., Tang, J., Tecchio, M., Teng, P.K., Thom, J., Thome, J., Thompson, G.A., Thomson, E., Ttito-Guzmán, P., Tkaczyk, S., Toback, D., Tokar, S., Tollefson, K., Tomura, T., Tonelli, D., Torre, S., Torretta, D., Totaro, P., Trovato, M., Tu, Y., Ukegawa, F., Uozumi, S., Varganov, A., Vázquez, F., Velev, G., Vellidis, C., Vidal, M., Vila, I., Vilar, R., Vizán, J., Vogel, M., Volpi, G., Wagner, P., Wagner, R.L., Wakisaka, T., Wallny, R., Wang, S.M., Warburton, A., Waters, D., Weinberger, M., Wester, W.C., Whitehouse, B., Whiteson, D., Wicklund, A.B., Wicklund, E., Wilbur, S., Wick, F., Williams, H.H., Wilson, J.S., Wilson, P., Winer, B.L., Wittich, P., Wolbers, S., Wolfe, H., Wright, T., Wu, X., Wu, Z., Yamamoto, K., Yamaoka, J., Yang, T., Yang, U.K., Yang, Y.C., Yao, W.-M., Yeh, G.P., Yi, K., Yoh, J., Yorita, K., Yoshida, T., Yu, G.B., Yu, I., Yu, S.S., Yun, J.C., Zanetti, A., Zeng, Y., Zucchelli, S
Measurement of the D+ -meson production cross section at low transverse momentum in p p collisions at s =1.96 TeV
No full textNSERC, Natural Sciences and Engineering Research Council of CanadaEU community Marie Curie FellowshipMinisterio de Ciencia e Innovación, and Programa Consolider-Ingenio 2010; EU community Marie Curie Fellowship Contract No. 302103Aaltonen, T., Amerio, S., Amidei, D., Anastassov, A., Annovi, A., Antos, J., Apollinari, G., Appel, J.A., Arisawa, T., Artikov, A., Asaadi, J., Ashmanskas, W., Auerbach, B., Aurisano, A., Azfar, F., Badgett, W., Bae, T., Barbaro-Galtieri, A., Barnes, V.E., Barnett, B.A., Barria, P., Bartos, P., Bauce, M., Bedeschi, F., Behari, S., Bellettini, G., Bellinger, J., Benjamin, D., Beretvas, A., Bhatti, A., Bland, K.R., Blumenfeld, B., Bocci, A., Bodek, A., Bortoletto, D., Boudreau, J., Boveia, A., Brigliadori, L., Bromberg, C., Brucken, E., Budagov, J., Budd, H.S., Burkett, K., Busetto, G., Bussey, P., Butti, P., Buzatu, A., Calamba, A., Camarda, S., Campanelli, M., Canelli, F., Carls, B., Carlsmith, D., Carosi, R., Carrillo, S., Casal, B., Casarsa, M., Castro, A., Catastini, P., Cauz, D., Cavaliere, V., Cerri, A., Cerrito, L., Chen, Y.C., Chertok, M., Chiarelli, G., Chlachidze, G., Cho, K., Chokheli, D., Clark, A., Clarke, C., Convery, M.E., Conway, J., Corbo, M., Cordelli, M., Cox, C.A., Cox, D.J., Cremonesi, M., Cruz, D., Cuevas, J., Culbertson, R., D'Ascenzo, N., Datta, M., De Barbaro, P., Demortier, L., Deninno, M., D'Errico, M., Devoto, F., Di Canto, A., Di Ruzza, B., Dittmann, J.R., Donati, S., D'Onofrio, M., Dorigo, M., Driutti, A., Ebina, K., Edgar, R., Erbacher, R., Errede, S., Esham, B., Farrington, S., Fernández Ramos, J.P., Field, R., Flanagan, G., Forrest, R., Franklin, M., Freeman, J.C., Frisch, H., Funakoshi, Y., Galloni, C., Garfinkel, A.F., Garosi, P., Gerberich, H., Gerchtein, E., Giagu, S., Giakoumopoulou, V., Gibson, K., Ginsburg, C.M., Giokaris, N., Giromini, P., Glagolev, V., Glenzinski, D., Gold, M., Goldin, D., Golossanov, A., Gomez, G., Gomez-Ceballos, G., Goncharov, M., González López, O., Gorelov, I., Goshaw, A.T., Goulianos, K., Gramellini, E., Grosso-Pilcher, C., Guimaraes Da Costa, J., Hahn, S.R., Han, J.Y., Happacher, F., Hara, K., Hare, M., Harr, R.F., Harrington-Taber, T., Hatakeyama, K., Hays, C., Heinrich, J., Herndon, M., Hocker, A., Hong, Z., Hopkins, W., Hou, S., Hughes, R.E., Husemann, U., Hussein, M., Huston, J., Introzzi, G., Iori, M., Ivanov, A., James, E., Jang, D., Jayatilaka, B., Jeon, E.J., Jindariani, S., Jones, M., Joo, K.K., Jun, S.Y., Junk, T.R., Kambeitz, M., Kamon, T., Karchin, P.E., Kasmi, A., Kato, Y., Ketchum, W., Keung, J., Kilminster, B., Kim, D.H., Kim, H.S., Kim, J.E., Kim, M.J., Kim, S.H., Kim, S.B., Kim, Y.J., Kim, Y.K., Kimura, N., Kirby, M., Kondo, K., Kong, D.J., Konigsberg, J., Kotwal, A.V., Kreps, M., Kroll, J., Kruse, M., Kuhr, T., Kurata, M., Laasanen, A.T., Lammel, S., Lancaster, M., Lannon, K., Latino, G., Lee, H.S., Lee, J.S., Leo, S., Leone, S., Lewis, J.D., Limosani, A., Lipeles, E., Lister, A., Liu, Q., Liu, T., Lockwitz, S., Loginov, A., Lucchesi, D., Lucà, A., Lueck, J., Lujan, P., Lukens, P., Lungu, G., Lys, J., Lysak, R., Madrak, R., Maestro, P., Malik, S., Manca, G., Manousakis-Katsikakis, A., Marchese, L., Margaroli, F., Marino, P., Matera, K., Mattson, M.E., Mazzacane, A., Mazzanti, P., McNulty, R., Mehta, A., Mehtala, P., Mesropian, C., Miao, T., Mietlicki, D., Mitra, A., Miyake, H., Moed, S., Moggi, N., Moon, C.S., Moore, R., Morello, M.J., Mukherjee, A., Muller, T., Murat, P., Mussini, M., Nachtman, J., Nagai, Y., Naganoma, J., Nakano, I., Napier, A., Nett, J., Nigmanov, T., Nodulman, L., Noh, S.Y., Norniella, O., Oakes, L., Oh, S.H., Oh, Y.D., Okusawa, T., Orava, R., Ortolan, L., Pagliarone, C., Palencia, E., Palni, P., Papadimitriou, V., Parker, W., Pauletta, G., Paulini, M., Paus, C., Phillips, T.J., Piacentino, G., Pianori, E., Pilot, J., Pitts, K., Plager, C., Pondrom, L., Poprocki, S., Potamianos, K., Pranko, A., Prokoshin, F., Ptohos, F., Punzi, G., Redondo Fernández, I., Renton, P., Rescigno, M., Rimondi, F., Ristori, L., Robson, A., Rodriguez, T., Rolli, S., Ronzani, M., Roser, R., Rosner, J.L., Ruffini, F., Ruiz, A., Russ, J., Rusu, V., Sakumoto, W.K., Sakurai, Y., Santi, L., Sato, K., Saveliev, V., Savoy-Navarro, A., Schlabach, P., Schmidt, E.E., Schwarz, T., Scodellaro, L., Scuri, F., Seidel, S., Seiya, Y., Semenov, A., Sforza, F., Shalhout, S.Z., Shears, T., Shepard, P.F., Shimojima, M., Shochet, M., Shreyber-Tecker, I., Simonenko, A., Sliwa, K., Smith, J.R., Snider, F.D., Song, H., Sorin, V., St Denis, R., Stancari, M., Stentz, D., Strologas, J., Sudo, Y., Sukhanov, A., Suslov, I., Takemasa, K., Takeuchi, Y., Tang, J., Tecchio, M., Teng, P.K., Thom, J., Thomson, E., Thukral, V., Toback, D., Tokar, S., Tollefson, K., Tomura, T., Tonelli, D., Torre, S., Torretta, D., Totaro, P., Trovato, M., Ukegawa, F., Uozumi, S., Vázquez, F., Velev, G., Vellidis, C., Vernieri, C., Vidal, M., Vilar, R., Vizán, J., Vogel, M., Volpi, G., Wagner, P., Wallny, R., Wang, S.M., Waters, D., Wester, W.C., III, Whiteson, D., Wicklund, A.B., Wilbur, S., Williams, H.H., Wilson, J.S., Wilson, P., Winer, B.L., Wittich, P., Wolbers, S., Wolfe, H., Wright, T., Wu, X., Wu, Z., Yamamoto, K., Yamato, D., Yang, T., Yang, U.K., Yang, Y.C., Yao, W.-M., Yeh, G.P., Yi, K., Yoh, J., Yorita, K., Yoshida, T., Yu, G.B., Yu, I., Zanetti, A.M., Zeng, Y., Zhou, C., Zucchelli, S
Measurement of vector boson plus D* (2010)+ meson production in p-p collisions at s =1.96 TeV
No full textThe Ministerio de Ciencia e Innovacion, and Programa Consolider-Ingenio 2010, Spain; the Slovak R&D Agency; the Academy of Finland; the Australian Research Council (ARC); and the EU community Marie Curie Fellowship Contract No. 302103.Aaltonen, T., Amerio, S., Amidei, D., Anastassov, A., Annovi, A., Antos, J., Apollinari, G., Appel, J.A., Arisawa, T., Artikov, A., Asaadi, J., Ashmanskas, W., Auerbach, B., Aurisano, A., Azfar, F., Badgett, W., Bae, T., Barbaro-Galtieri, A., Barnes, V.E., Barnett, B.A., Barria, P., Bartos, P., Bauce, M., Bedeschi, F., Behari, S., Bellettini, G., Bellinger, J., Benjamin, D., Beretvas, A., Bhatti, A., Bland, K.R., Blumenfeld, B., Bocci, A., Bodek, A., Bortoletto, D., Boudreau, J., Boveia, A., Brigliadori, L., Bromberg, C., Brucken, E., Budagov, J., Budd, H.S., Burkett, K., Busetto, G., Bussey, P., Butti, P., Buzatu, A., Calamba, A., Camarda, S., Campanelli, M., Canelli, F., Carls, B., Carlsmith, D., Carosi, R., Carrillo, S., Casal, B., Casarsa, M., Castro, A., Catastini, P., Cauz, D., Cavaliere, V., Cerri, A., Cerrito, L., Chen, Y.C., Chertok, M., Chiarelli, G., Chlachidze, G., Cho, K., Chokheli, D., Clark, A., Clarke, C., Convery, M.E., Conway, J., Corbo, M., Cordelli, M., Cox, C.A., Cox, D.J., Cremonesi, M., Cruz, D., Cuevas, J., Culbertson, R., D'Ascenzo, N., Datta, M., De Barbaro, P., Demortier, L., Deninno, M., D'Errico, M., Devoto, F., Di Canto, A., Di Ruzza, B., Dittmann, J.R., Donati, S., D'Onofrio, M., Dorigo, M., Driutti, A., Ebina, K., Edgar, R., Elagin, A., Erbacher, R., Errede, S., Esham, B., Farrington, S., Fernández Ramos, J.P., Field, R., Flanagan, G., Forrest, R., Franklin, M., Freeman, J.C., Frisch, H., Funakoshi, Y., Galloni, C., Garfinkel, A.F., Garosi, P., Gerberich, H., Gerchtein, E., Giagu, S., Giakoumopoulou, V., Gibson, K., Ginsburg, C.M., Giokaris, N., Giromini, P., Glagolev, V., Glenzinski, D., Gold, M., Goldin, D., Golossanov, A., Gomez, G., Gomez-Ceballos, G., Goncharov, M., González López, O., Gorelov, I., Goshaw, A.T., Goulianos, K., Gramellini, E., Grosso-Pilcher, C., Group, R.C., Guimaraes Da Costa, J., Hahn, S.R., Han, J.Y., Happacher, F., Hara, K., Hare, M., Harr, R.F., Harrington-Taber, T., Hatakeyama, K., Hays, C., Heinrich, J., Herndon, M., Hocker, A., Hong, Z., Hopkins, W., Hou, S., Hughes, R.E., Husemann, U., Hussein, M., Huston, J., Introzzi, G., Iori, M., Ivanov, A., James, E., Jang, D., Jayatilaka, B., Jeon, E.J., Jindariani, S., Jones, M., Joo, K.K., Jun, S.Y., Junk, T.R., Kambeitz, M., Kamon, T., Karchin, P.E., Kasmi, A., Kato, Y., Ketchum, W., Keung, J., Kilminster, B., Kim, D.H., Kim, H.S., Kim, J.E., Kim, M.J., Kim, S.H., Kim, S.B., Kim, Y.J., Kim, Y.K., Kimura, N., Kirby, M., Knoepfel, K., Kondo, K., Kong, D.J., Konigsberg, J., Kotwal, A.V., Kreps, M., Kroll, J., Kruse, M., Kuhr, T., Kurata, M., Laasanen, A.T., Lammel, S., Lancaster, M., Lannon, K., Latino, G., Lee, H.S., Lee, J.S., Leo, S., Leone, S., Lewis, J.D., Limosani, A., Lipeles, E., Lister, A., Liu, H., Liu, Q., Liu, T., Lockwitz, S., Loginov, A., Lucchesi, D., Lucà, A., Lueck, J., Lujan, P., Lukens, P., Lungu, G., Lys, J., Lysak, R., Madrak, R., Maestro, P., Malik, S., Manca, G., Manousakis-Katsikakis, A., Marchese, L., Margaroli, F., Marino, P., Matera, K., Mattson, M.E., Mazzacane, A., Mazzanti, P., McNulty, R., Mehta, A., Mehtala, P., Mesropian, C., Miao, T., Mietlicki, D., Mitra, A., Miyake, H., Moed, S., Moggi, N., Moon, C.S., Moore, R., Morello, M.J., Mukherjee, A., Muller, T., Murat, P., Mussini, M., Nachtman, J., Nagai, Y., Naganoma, J., Nakano, I., Napier, A., Nett, J., Neu, C., Nigmanov, T., Nodulman, L., Noh, S.Y., Norniella, O., Oakes, L., Oh, S.H., Oh, Y.D., Oksuzian, I., Okusawa, T., Orava, R., Ortolan, L., Pagliarone, C., Palencia, E., Palni, P., Papadimitriou, V., Parker, W., Pauletta, G., Paulini, M., Paus, C., Phillips, T.J., Piacentino, G., Pianori, E., Pilot, J., Pitts, K., Plager, C., Pondrom, L., Poprocki, S., Potamianos, K., Pranko, A., Prokoshin, F., 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Field D*: An Interpolation-Based Path Planner and Replanner
No full textAbstract. We present an interpolation-based planning and replanning algorithm for generating smooth paths through non-uniform cost grids. Most grid-based path planners use discrete state transitions that artificially constrain an agent’s motion to a small set of possible headings (e.g. 0, π π, , etc). As a result, even the ‘optimal ’ grid planners produce unnatural, suboptimal 4 2 paths. Our approach uses linear interpolation during planning to calculate accurate path cost estimates for arbitrary positions within each grid cell and to produce paths with a continuous range of headings. Consequently, it is particularly well suited to planning smooth, least-cost trajectories for mobile robots. In this paper, we present a number of applications and results, a comparison to related algorithms, and several implementations on real robotic systems.
Measurement of vector boson plus D∗ (2010)+ meson production in p-p collisions at s =1.96 TeV MEASUREMENT of VECTOR BOSON PLUS D∗ (2010)+ ... T. AALTONEN et al
No full textA measurement of vector boson (V) production in conjunction with a D∗(2010)+ meson is presented. Using a data sample corresponding to 9.7 fb−1 of proton-antiproton collisions at center-of-mass energy √s=1.96 TeV produced by the Fermilab Tevatron, we reconstruct V+D*+ samples with the CDF II detector. The D*+ is fully reconstructed in the D∗(2010)+→D0(→K−π+)π+ decay mode. This technique is sensitive to the associated production of vector boson plus charm or bottom mesons. We measure the ratio of production cross sections σ(W+D∗)/σ(W)=[1.75±0.13(stat)±0.09(stat)]% and σ(Z+D∗)/σ(Z)=[1.5±0.4(stat)±0.2(stat)]% and perform a differential measurement of dσ(W+D∗)/dpT(D∗). Event properties are utilized to determine the fraction of V+D∗(2010)+ events originating from different production processes. The results are in agreement with the predictions obtained with the pythia program, limiting possible contribution from non-standard-model physics processes
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