Abstract: A computer that includes a processor and a memory can determine a final trajectory for a vehicle by determining a candidate trajectory of a first object based on a detected second object. The candidate trajectory can be input to a reachable polyhedral marching processor to determine dynamic occupancy polyhedrals based on a shape of the candidate trajectory. A reachable tube can be determined based on combining the dynamic occupancy polyhedrals and the final trajectory can be determined based on the reachable tube avoiding the detected second object.

Abstract: A solid oxide fuel cell is provided having a ceria-based bulk electrolyte layer, an interface layer, an anode and a cathode, where the ceria-based bulk electrolyte layer is disposed between the cathode and the interface layer, and the interface layer is disposed between the ceria-based bulk electrolyte layer and the anode. Use of the ceria-based bulk electrolyte layer and an interface layer between the bulk layer and the anode takes advantage of the properties of a Ceria-based electrolyte without reducing to Ce (III) when operating the SOFC at the prescribed temperatures. The ceria-based bulk electrolyte layer has a thickness in a range of 10 nm to 500 um, and the interface layer has a thickness in a range of 1 angstrom to 50 nm.

Abstract: The present invention provides a sulfated polysaccharide (D-HG), a pharmaceutically acceptable salt thereof, a process for preparing the same and a medicament containing the same as the effective component for DIC (disseminated intravascular coagulation) and thrombosis, the sulfated polysaccharide (D-HG) being prepared by depolymerization of FGAG (a sulfated polysaccharide extracted from a body wall of a sea cucumber with such activities as those of heparin) or a salt thereof and having the following physicochemical properties:[1] Molecular weight:3,000 to 42,000 (as measured by high performance GPC)[2] Characteristic:white, amorphous, highly hygroscopic powder[3] Solubility:soluble in water but insoluble in ethanol, acetone and like organic solvents[4] Specific rotation:[.alpha.].sub.D.sup.20 =-55 to -73.degree.