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| 1 | A framework for multi-robot motion planning from temporal logic specifications显示文摘We propose a framework for the coordination of a network of robots with respect to formal requirement specifications expressed in temporal logics.A regular tessellation is used to partition the space of interest into a union of disjoint regular and equal cells with finite facets,and each cell can only be occupied by a robot or an obstacle.Each robot is assumed to be equipped with a finite collection of continuous-time nonlinear closed-loop dynamics to be operated in.The robot is then modeled as a hybrid automaton for capturing the finitely many modes of operation for either staying within the current cell or reaching an adjacent cell through the corresponding facet.By taking the motion capabilities into account,a bisimilar discrete abstraction of the hybrid automaton can be constructed.Having the two systems bisimilar,all properties that are expressible in temporal logics such as Linear-time Temporal Logic,Computation Tree Logic,and μ -calculus can be preserved.Motion planning can then be performed at a discrete level by considering the parallel composition of discrete abstractions of the robots with a requirement specification given in a suitable temporal logic.The bisimilarity ensures that the discrete planning solutions are executable by the robots.For demonstration purpose,a finite automaton is used as the abstraction and the requirement specification is expressed in Computation Tree Logic.The model checker Cadence SMV is used to generate coordinated verified motion planning solutions.Two autonomous aerial robots are used to demonstrate how the proposed framework may be applied to solve coordinated motion planning problems. | T.John KOO RongQing LI Michael M.QUOTTRUP Charles A.CLIFTON Roozbeh IZADI-ZAMANABADI Thomas BAK | 2012 | Science China(Information Sciences)2012，55，7： | 2 |
| 2 | Fatigue distribution optimization for offshore wind farms using intelli- gent agent control 显示文摘 | Rongyong Zhao Wenzhong Shen Torben Knudsen and Thomas Bak | 2012 | Wind Energy2012，15，7： | 1 |
| 3 | Agricultural Robotic Platform with Four Wheel Steering for Weed Detection 显示文摘 | Thomas Bak Hans Jakobsen | 2004 | Biosystems Engineering2004，87，2： | 1 |
| 4 | Delayed neutropenic enterocolitis in a 12-year-old girl treated with total colectomy and J-pouch reservoir显示文摘 | Thomas Kjaergaard Larsen Niels Qvist Martin Bak | 2001 | Journal of Pediatric Surgery2001，，7： | 1 |
| 5 | The Effect of Laser Treatment as a Weed Control Method显示文摘 | Solvejg K. Mathiassen Thomas Bak Svend Christensen Per Kudsk | 2006 | Biosystems Engineering2006，，4： | 1 |
| 6 | The Effect of Laser Treatment as a weed control method显示文摘 | SOLVEJG K MATHIASSEN THOMAS BAK | 2006 | Biosystems engineering2006，95，4： | 1 |
| 7 | Liver transplantation for autoimmune hepatitis and the success of aggressive corticosteroid withdrawal显示文摘 | Jeffrey Campsen Michael A. Zimmerman James F. Trotter Michael Wachs Thomas Bak Tracy Steinberg Maria Kaplan Franklin Wright Igal Kam | 2008 | Liver Transpl2008，，： | 1 |
| 8 | Agricultural robotic platform with four wheel steering for weed detection 显示文摘 | Thomas Bak Hans Jakobsen | 2004 | Biosystems Engineering2004，87，2： | 1 |
| 9 | The effect of laser treatment as a weed control method 显示文摘 | Solvejg K Mathiassen Thomas Bak Svend Christensen etal | 2006 | Biosystems Engineering2006，95，4： | 1 |
| 10 | Frequency and Prognostic Value of Cognitive Disorders in Stroke Patients 显示文摘 | Marcin Leiniak Thomas Bak Wojciech Czepiel | 2008 | Dement Geriatr Cogn Disord2008，26，： | 1 |
| 11 | Evaluation of commercial chromatographic adsorbents for the direct capture of polyclonal rabbit antibodies from clarified antiscrum显示文摘 | Bak H Thomas O R T | 2007 | Journal of Chromatography B2007，848，1： | 1 |
| 12 | Agricultural robotic platform with four wheel steering for weed detection显示文摘 | Thomas Bak Hans Jakobsen | 2004 | Biosystems Engineering2004，87，2： | 1 |
| 13 | Donor preoperative oxygen delivery and post-extubation hypoxia impact donation after circulatory death hypoxic cholangiopathy显示文摘AIM: To evaluate donation after circulatory death(DCD) orthotopic liver transplant outcomes [hypoxic cholangiopathy(HC) and patient/graft survival] and donor risk-conditions.METHODS: From 2003-2013, 45 DCD donor transplants were performed. Predonation physiologic data from UNOS Donor Net included preoperative systolic and diastolic blood pressure, heart rate, p H, SpO_2, PaO_2, FiO_2, and hemoglobin. Mean arterial bloodpressure was computed from the systolic and diastolic blood pressures. Donor preoperative arterial O_2 content was computed as [hemoglobin(gm/d L) × 1.37(m L O_2/gm) × SpO_2%) +(0.003 × PaO_2)]. The amount of preoperative donor red blood cell transfusions given and vasopressor use during the intensive care unit stay were documented. Donors who were transfused ≥ 1 unit of red-cells or received ≥ 2 vasopressors in the preoperative period were categorized as the red-cell/multi-pressor group. Following withdrawal of life support, donor ischemia time was computed as the number-of-minutes from onset of diastolic blood pressure < 60 mm Hg until aortic cross clamping. Donor hypoxemia time was the number-of-minutes from onset of pulse oximetry < 80% until clamping. Donor hypoxia score was(ischemia time + hypoxemia time) ÷ donor preoperative hemoglobin.RESULTS: The 1, 3, and 5 year graft and patient survival rates were 83%, 77%, 60%; and 92%, 84%, and 72%, respectively. HC occurred in 49% with 16% requiring retransplant. HC occurred in donors with increased age(33.0 ± 10.6 years vs 25.6 ± 8.4 years, P = 0.014), less preoperative multiple vasopressors or red-cell transfusion(9.5% vs 54.6%, P = 0.002), lower preoperative hemoglobin(10.7 ± 2.2 gm/d L vs 12.3 ± 2.1 gm/d L, P = 0.017), lower preoperative arterial oxygen content(14.8 ± 2.8 m L O_2/100 m L blood vs 16.8 ± 3.3 m L O_2/100 m L blood, P = 0.049), greater hypoxia score >2.0(69.6% vs 25.0%, P = 0.006), and increased preoperative mean arterial pressure(92.7 ± 16.2 mm Hg vs 83.8 ± 18.5 mm Hg, P = 0.10). HC was independently associated with age, multi-pressor/redcell transfusion status, arterial oxygen content, hypoxia score, and mean arterial pressure(r^2 = 0.6197). The transplantation rate was greater for the later period with more liberal donor selection [era 2(7.1/year)], compared to our early experience [era 1(2.5/year)]. HC occurred in 63.0% during era 2 and in 29.4% during era 1(P = 0.03). Era 2 donors had longer times for extubation-to-asystole(14.4 ± 4.7 m vs 9.3 ± 4.5 m, P = 0.001), ischemia(13.9 ± 5.9 m vs 9.7 ± 5.6 m, P = 0.03), and hypoxemia(16.0 ± 5.1 m vs 11.1 ± 6.7 m, P = 0.013) and a higher hypoxia score > 2.0 rate(73.1% vs 28.6%, P = 0.006).CONCLUSION: Easily measured donor indices, including a hypoxia score, provide an objective measure of DCD liver transplantation risk for recipient HC. Donor selection criteria influence HC rates. | Thomas J Chirichella C Michael Dunham Michael A Zimmerman Elise M Phelan M Susan Mandell Kendra D Conzen Stephen E Kelley Trevor L Nydam Thomas E Bak Igal Kam Michael E Wachs | 2016 | World Journal of Gastroenterology2016，22，12： | 0 |
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