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Browsing MIT Open Access Articles by Title
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(American Economic Association, 2012-02)For political and practical reasons, environmental regulations sometimes treat point-source polluters, such as power plants, differently from mobile-source polluters, such as vehicles. This paper measures the extent of ...
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(Institute of Electrical and Electronics Engineers, 2013-05)A minimax metaconverse has recently been proposed as a simultaneous generalization of a number of classical results and a tool for the nonasymptotic analysis. In this paper, it is shown that the order of optimizing the ...
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(Wiley Blackwell, 2011-03)Safer flow: The synthesis of 5-substituted tetrazoles in flow (see scheme) is safe, efficient, scalable, requires no metal promoter, and uses a near-equimolar amount of NaN[subscript 3], yet nonetheless displays a broad ...
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(Institute of Electrical and Electronics Engineers (IEEE), 2009-08)Although fall is a rare event in the life of a humanoid robot, we must be prepared for it because its consequences are serious. In this paper we present a fall strategy which rapidly modifies the robot's fall direction in ...
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(Institute of Electrical and Electronics Engineers, 2011-12)In this paper, we consider the safety control problem for hidden mode hybrid systems (HMHSs), which are a special class of hybrid automata in which the mode is not available for control. For these systems, safety control ...
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(Institute of Electrical and Electronics Engineers, 2011-12)This paper is concerned with safety control of systems with imperfect state information and disturbance input. Specifically, we consider the class of systems whose dynamics preserve a partial ordering. We provide necessary ...
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(Institute of Electrical and Electronics Engineers, 2010-03)Too often, systems are designed and then an attempt is made to add safety features or to prove that the design is safe after the fact. Safety has to be designed into a system from the start-it cannot be effectively added ...
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(Institute of Electrical and Electronics Engineers (IEEE), 2011-09)In this article, we have illustrated the application of a formal hybrid control approach to design semiautonomous multivehicle systems that are guaranteed to be safe. Our experimental results illustrate that, in a structured ...
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(Springer Science + Business Media B.V., 2012-03)This essay explores the question of how to be good. My starting point is a thesis about moral worth that I’ve defended in the past: roughly, that an action is morally worthy if and only it is performed for the reasons ...
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(Nature Publishing Group, 2013-08)Hox genes controlling motor neuron subtype identity are expressed in rostrocaudal patterns that are spatially and temporally collinear with their chromosomal organization. Here we demonstrate that Hox chromatin is subdivided ...
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(Institute of Electrical and Electronics Engineers (IEEE), 2011-04)The method of interval estimation (MIE) provides a strategy for mean squared error (MSE) prediction of algorithm performance at low signal-to-noise ratios (SNR) below estimation threshold where asymptotic predictions fail. ...
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(Institute of Electrical and Electronics Engineers (IEEE), 2012-12)In this paper, the filtering problem for a large class of continuous-time, continuous-state stochastic dynamical systems is considered. Inspired by recent advances in asymptotically-optimal sampling-based motion planning ...
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(Institute of Electrical and Electronics Engineers (IEEE), 2013-06)This paper focuses on a continuous-time, continuous-space formulation of the stochastic optimal control problem with nonlinear dynamics and observation noise. We lay the mathematical foundations to construct, via incremental ...
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(Sage Publications, 2011-06)During the last decade, sampling-based path planning algorithms, such as probabilistic roadmaps (PRM) and rapidly exploring random trees (RRT), have been shown to work well in practice and possess theoretical guarantees ...
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(Association for the Advancement of Artificial Intelligence (AAAI), 2012-06)We present several new contributions in sampling-based coverage path planning, the task of finding feasible paths that give 100% sensor coverage of complex structures in obstacle-filled and visually occluded environments. ...
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(Institute of Electrical and Electronics Engineers, 2010-01)In this paper, we propose algorithms for the on-line computation of control programs for dynamical systems that provably satisfy a class of temporal logic specifications. Such specifications have recently been proposed in ...
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(Institute of Electrical and Electronics Engineers, 2010-01)In this paper, we propose algorithms for the online computation of control programs for dynamical systems that provably satisfy a class of temporal logic specifications. Such specifications have recently been proposed ...
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Sampling-Based Sweep Planning to Exploit Local Planarity in the Inspection of Complex 3d Structures (Institute of Electrical and Electronics Engineers (IEEE), 2012-10)We present a hybrid algorithm that plans feasible paths for 100% sensor coverage of complex 3D structures. The structures to be inspected are segmented to isolate planar areas, and back-and-forth sweep paths are generated ...
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(2010-09)This paper considers the decision-making problem for a vehicle crossing a road intersection in the presence of other, potentially errant, drivers. This problem is considered in a game-theoretic framework, where the errant ...
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(BioMed Central Ltd, 2013-10)Background: Comprehensive protein-protein interaction (PPI) maps are a powerful resource for uncovering the molecular basis of genetic interactions and providing mechanistic insights. Over the past decade, high-throughput ...
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