Pseudo Approximation Algorithms with Applications to Optimal Motion Planning

We introduce a technique for computing approximate solutions to optimization problems. If $X$ is the set of feasible solutions, the standard goal of approximation algorithms is to compute $x\in X$ that is an $\varepsilon$-approximate solution in the following sense: $$d(x) \leq (1+\varepsilon)\, d(x^*),$$ where $x^* \in X$ is an optimal solution, $d\colon\ X\rightarrow {\Bbb R}_{\geq 0}$ is the optimization function to be minimized, and $\varepsilon>0$ is an input parameter. Our approach is first to devise algorithms that compute pseudo $\varepsilon$-approximate solutions satisfying the bound $$d(x) \leq d(x_R^*) + \varepsilon R,$$ where $R>0$ is a new input parameter. Here $x^*_R$ denotes an optimal solution in the space $X_R$ of $R$-constrained feasible solutions. The parameter $R$ provides a stratification of $X$ in the sense that (1) $X_R \subseteq X_{R}$ for $R < R$ and (2) $X_R = X$ for $R$ sufficiently large. We first describe a highly efficient scheme for converting a pseudo $\varepsilon$-approximation algorithm into a true $\varepsilon$-approximation algorithm. This scheme is useful because pseudo approximation algorithms seem to be easier to construct than $\varepsilon$-approximation algorithms. Another benefit is that our algorithm is automatically precision-sensitive. We apply our technique to two problems in robotics: (A) Euclidean Shortest Path (3ESP), namely the shortest path for a point robot amidst polyhedral obstacles in three dimensions, and (B) $d_1$-optimal motion for a rod moving amidst planar obstacles (1ORM). Previously, no polynomial time $\varepsilon$-approximation algorithm for (B) was known. For (A), our new solution is simpler than previous solutions and has an exponentially smaller complexity in terms of the input precision.     

Graphene-based Q-switched pulsed fiber laser in a linear configuration

A pulsed laser system is realized with graphene employed as a Q-switch.The graphene is exfoliated from its solution using an optical deposition and the optical tweezer effect.A fiber ferrule that already has the graphene deposited on it is inserted into an erbium-ytterbium laser(EYL)system with linear cavity configuration.We successfully demonstrate a pulsed EYL with a pulse duration of approximately 5.9μs and a repetition rate of 20.0 kHz.     

Fourier multipliers of Lipschitz spaces

Let G denote an infinite, compact, metrizable, 0-dimensional, Abelian group. The following are characterized: (i) the multipliers from one Lipschitz space Lip(α, p; G) to another Lipschitz space Lip(β, q; G) for 0 < α < β < ∞ and 1 ? p, q ? ∞; and (ii) the multipliers from Lip(α, p; G) to Lip(β, q; G) for 0 < β ? α < ∞ and 1 < q ? 2 ? p < ∞. Two special cases of (i), namely the case q = ∞ and the case p = 1, were obtained by the authors in an earlier publication (1981). A. Zygmund (J. Math. Mech.8 (1959), 889–895) and T. Mizuhara (Tôhoku Math. J.24 (1972), 263–268) have characterized the multipliers of certain Lipschitz spaces defined on the circle group.     

Manganese(I) poly(mercaptoimidazolyl)borate complexes: spectroscopic and structural characterization of Mn...H-B interactions in solution and in the solid state

The manganese(I) tricarbonyl complexes (Bm(R))Mn(CO)3(R = Me, Bz, But, p-Tol) and (PhBmMe)Mn(CO)3, the first bis(mercaptoimidazolyl)borate derivatives for this metal, have been readily prepared and fully characterized. In particular, the presence of three-center-two-electron Mn...H-B interactions in these species, both in solution and in the solid state, has been investigated using a combination of IR and NMR spectroscopies and, in the case of the methyl-, tert-butyl- and para-tolyl-substituted derivatives, by X-ray crystallography. To complement these synthetic and structural studies, the tris(mercaptoimidazolyl)borate complexes (TmMe)Mn(CO)3(R = Me, Bz, But, p-Tol) and (PhTm(Me))Mn(CO)3, as well as the related pyrazolylbis(mercaptoimidazolyl)borate (pzBmMe)Mn(CO)3, have also been synthesized and characterized by a combination of analytical and spectroscopic techniques.     

Synthesis of novel acetylenic cyclophanes with helical chirality: potential new structures for liquid crystals

The synthesis of a series of novel acetylenic cyclophanes is described. X-ray crystallographic analysis of the core structure revealed a twisted conformation with helical chirality. Preliminary results suggest that these cyclophanes, with appropriate functionality, have the potential to act as unique liquid crystalline materials.     

Catalytic construction and reconstruction of guanidines: Ti-mediated guanylation of amines and transamination of guanidines

Bis(guanidinate) titanium imido complexes [{(Me2N)C(NiPr)2}2TiNAr'] (Ar' = 2,6-Me2C6H3 (1a); C6F5 (1b)) are competent catalysts for the guanylation of a variety of arylamines with carbodiimide. The reversible [2 + 2] addition of iPrN=C=NiPr to 1b is demonstrated and is proposed to be part of the catalytic cycle. Compounds 1a and 1b are also effective precatalysts for the transamination of trialkylguanidines with arylamines to yield aryldialkylguanidines.     

Comparative evaluation of software for retention time alignment of gas chromatography/time-of-flight mass spectrometry-based metabonomic data

In chromatography-based metabonomic research, retention time (RT) alignment of chromatographic peaks poses a challenge for the accurate profiling of biomarkers. Although a number of RT alignment software has been reported, the performance of these software packages have not been comprehensively evaluated. This study aimed to evaluate the RT alignment accuracy of publicly available and commercial RT alignment software. Two gas chromatography/mass spectrometry (GC/MS) datasets acquired from a mixture of standard metabolites and human bladder cancer urine samples, were used to assess three publicly available software packages, MetAlign, MZmine and TagFinder, and two commercial applications comprising the Calibration feature and Statistical Compare of ChromaTOF software. The overall RT alignment accuracies in aligning standard compounds mixture were 93, 92, 74, 73 and 42% for Calibration feature, MZmine, MetAlign, Statistical Compare and TagFinder, respectively. Additionally, unique trends were observed for the individual software with regards to the different experimental conditions related to extent and direction of RT shifts. Conflicting performance was observed for human urine samples suggesting that RT misalignments still occurred despite the use of RT alignment software. While RT alignment remains an inevitable step in data preprocessing, metabonomic researchers are recommended to perform manual check on the RT alignment of important biomarkers as part of their validation process.     

A carbon-centered radical unreactive toward oxygen: unusual radical stabilization by a lactone ring

A lactone ring confers unusual stability to a diphenylmethyl-like radical that is virtually unreactive toward oxygen. Thus, the radical derived from HP-136 is about 10,000 times less reactive than typical carbon-centered radicals. A reversible reaction with oxygen is proposed by analogy with triphenylmethyl; however, the association constant is about 1000 times smaller for HP-136 than for triphenylmethyl. While the lactone ring greatly influences the reactivity, the spectroscopy of the HP-136-derived radical is in line with that expected for a substituted diphenylmethyl radical.