Abstract: A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.

Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.

Abstract: The invention provides a compound of formula (0): or a pharmaceutically acceptable salt, N-oxide or tautomer thereof; wherein: n is 1 or 2; X is CH or N; Y is selected from CH and C—F; Z is selected from C—Rz and N; R1 is selected from: -(Alk1)t-Cyc1; wherein t is 0 or 1; Optionally substituted C1-6 acyclic hydrocarbon groups R2 is selected from hydrogen; halogen; and C1-3 hydrocarbon groups optionally substituted with one or more fluorine atoms; R3 is hydrogen or a group L1-R7; R4 is selected from hydrogen; methoxy; and optionally substituted C1-3 alkyl; and R4a is selected from hydrogen and a C1-3 alkyl group; wherein Rz, Alk1, Cyc1, L1 and R7 are defined herein; provided that the compound is other than 6-benzyl-3-{2-[(2-methylpyrimidin-4-yl)amino]pyridin-4-yl}-7,8-dihydro-1,6-naphthyridin-5(6H)-one and 3-{2-[(2-methylpyrimidin-4-yl)amino]pyridin-4-yl}-7,8-dihydro-1,6-naphthyridin-5(6H)-one and salts and tautomers thereof.

Abstract: A method of mass spectrometry is disclosed comprising repeatedly or continuously causing first analyte sample to be released or ejected from a first sample. A determination is made as to whether or not a quality threshold such as an intensity threshold has been met or exceeded, wherein if the quality threshold has been met or exceeded then the method further comprises repeatedly or continuously causing second analyte sample to be released or ejected from a second sample.

Abstract: A method for dynamically tailoring on image operation based on tonal profile features of an input image includes a step of identifying tonal profile features of the input image; determining a transfer function for performing the image operation, the determined transfer function based on the tonal profile features and transfer function parameters determined from a set of training images subjected to the image operation; and performing the image operation according to the determined transfer function.

Abstract: A clip includes a body (10) and an opening (14) within the body and in which, in use, a part of a plant can engage. A slot (19), which is of doglegged configuration, extends between the opening (14) and an edge (17) of the body (10). The body (10) can be coupled to a means for providing support to the plant or part of the plant by a second opening (13) for which a slot (18) extends from an opposite edge (17) of the body (10).

Abstract: The present invention is directed to a system for modifying a circuit breaker for removable installation in a cell of switchgear system, wherein the unmodified circuit breaker is not adapted for mounting in the cell. The system includes an adapter frame to which the circuit breaker is mounted and gear assemblies mounted to opposing sides of the circuit breaker. The gear assemblies adapt a racking device of the circuit breaker so as to be operable to rack the circuit breaker within the cell of the switchgear system.

Abstract: A device that holds three writing, drafting or art instruments in elongated channels grouped closely together. Allowing the user to choose which instrument they will use by rotating the holder until the desired instrument is facing the working surface.

Abstract: A scalable computer system has an interconnect bus providing communication links among a host processor and one or more function-specific processors, including a network processor (NP) and a file storage processor (FSP). The host processor provides a single interface to network administrators for maintaining the system. A bi-endian conversion system is provided to minimize a need for translating between big and little endian data types generated by diverse processors. The NP shares a single memory image with other processors and has a buffer memory for buffering requests from the network interfaces. The buffer memory has one or more segments which are dynamically allocatable to different processors. The FSP has a metadata cache for maintaining information on data being cached in the NP buffer memory. The FSP also has a write cache for buffering file write operations directed at disks.