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 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.