Abstract: A method for ascertaining a direction of travel and/or a future path of travel of a robot and/or a vehicle, movable at least semiautonomously or autonomously in a dynamically changeable surrounding area.

Abstract: A computer-implemented method for determining a motion trajectory for a mobile robot based on an occupancy prior indicating probabilities of presence of dynamic objects and/or individuals in a map of an environment. Occupancy priors are determined by a reward function defined by reward function parameters. The determining of the reward function parameters includes: providing semantic maps; providing training trajectories for each of semantic maps; computing a gradient as a difference between an expected mean feature count and an empirical mean feature count depending on each of the semantic maps and on each of the training trajectories, the empirical mean feature count is the average number of features accumulated over the provided training trajectories of the semantic maps, wherein the expected mean feature count is the average number of features accumulated by trajectories generated depending on the current reward function parameters; and updating the reward function parameters depending on the gradient.

Abstract: A method for predicting at least one future velocity vector and/or a future pose of a pedestrian in an area of prediction. A map of a surrounding environment of the pedestrian and current velocity vectors of other pedestrians in the area of prediction are taken into account in the prediction.

Abstract: A computer-implemented method for determining a control trajectory for a robotic device. The method includes: performing an information theoretic model predictive control applying a control trajectory sample prior in each time step to obtain a control trajectory for a given time horizon; determining the control trajectory sample prior depending on a data-driven trajectory prediction model which is trained to output a control trajectory sample as the control trajectory sample prior based on an actual state of the robotic device.

Abstract: A computer-implemented method for determining a motion trajectory for a mobile robot based on an occupancy prior indicating probabilities of presence of dynamic objects and/or individuals in a map of an environment. Occupancy priors are determined by a reward function defined by reward function parameters. The determining of the reward function parameters includes: providing semantic maps; providing training trajectories for each of semantic maps; computing a gradient as a difference between an expected mean feature count and an empirical mean feature count depending on each of the semantic maps and on each of the training trajectories, the empirical mean feature count is the average number of features accumulated over the provided training trajectories of the semantic maps, wherein the expected mean feature count is the average number of features accumulated by trajectories generated depending on the current reward function parameters; and updating the reward function parameters depending on the gradient.

Abstract: A computer-implemented method for determining a control trajectory for a robotic device. The method includes: performing an information theoretic model predictive control applying a control trajectory sample prior in each time step to obtain a control trajectory for a given time horizon; determining the control trajectory sample prior depending on a data-driven trajectory prediction model which is trained to output a control trajectory sample as the control trajectory sample prior based on an actual state of the robotic device.

Abstract: A method for predicting at least one future velocity vector and/or a future pose of a pedestrian in an area of prediction. A map of a surrounding environment of the pedestrian and current velocity vectors of other pedestrians in the area of prediction are taken into account in the prediction.

Abstract: An ion exchange resin comprises a crosslinked resin and a salt covalently bonded to a carbon of the resin, wherein the salt comprises a first non-metallic cation and a first counteranion, wherein the first counteranion comprises a second non-metallic cation and a thiosulfate counteranion, and wherein the ion exchange resin is essentially free of metals. The ion exchange resin finds particular use in the removal of impurities from solutions that are useful in the manufacture of semiconductor devices.

Abstract: Provided are containers comprising: an enclosure member; and optionally an article at least partially within the enclosure member. The enclosure member and/or the article comprise an activated polymeric surface, wherein the enclosure member and/or the article comprise an activated polymeric surface, wherein the activated polymeric surface is formed by a method comprising treatment of a sulfonated polymeric surface with a composition comprising a protic acid. Also provided are methods of forming containers. The containers and their methods of formation find particular use in the storage of high purity chemicals useful in the electronics industry, and in the water, pharmaceutical and food and beverage industries.

Abstract: Provided are purification methods, comprising: (a) providing an organic solvent and a phenolic peroxide formation inhibitor, wherein the organic solvent has a first boiling point at standard atmospheric pressure (bp1) and the phenolic peroxide formation inhibitor has a second boiling point at standard atmospheric pressure (bp2) that satisfy the following inequality (I): bp2?(1.10)(bp1)??(I); and (b) heating the organic solvent and the phenolic peroxide formation inhibitor to a temperature causing the organic solvent and phenolic peroxide formation inhibitor to vaporize, and (ii) condensing the vaporized organic solvent and peroxide formation inhibitor to provide a purified mixture of the organic solvent and peroxide formation inhibitor. The methods find particular use in the purification of solvents that are useful in process chemicals for the manufacture of semiconductor devices.

Abstract: Provided are purification methods, comprising: (a) providing an organic solvent and a phenolic peroxide formation inhibitor, wherein the organic solvent has a first boiling point at standard atmospheric pressure (bp1) and the phenolic peroxide formation inhibitor has a second boiling point at standard atmospheric pressure (bp2) that satisfy the following inequality (I): bp2?(1.10)(bp1) ??(I); and (b) heating the organic solvent and the phenolic peroxide formation inhibitor to a temperature causing the organic solvent and phenolic peroxide formation inhibitor to vaporize, and (ii) condensing the vaporized organic solvent and peroxide formation inhibitor to provide a purified mixture of the organic solvent and peroxide formation inhibitor. The methods find particular use in the purification of solvents that are useful in process chemicals for the manufacture of semiconductor devices.

Abstract: An ion exchange resin comprises a crosslinked resin and a salt covalently bonded to a carbon of the resin, wherein the salt comprises a first non-metallic cation and a first counteranion, wherein the first counteranion comprises a second non-metallic cation and a thiosulfate counteranion, and wherein the ion exchange resin is essentially free of metals. The ion exchange resin finds particular use in the removal of impurities from solutions that are useful in the manufacture of semiconductor devices.