| 1. |
- Heiden, Eric, et al.
(författare)
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Bench-MR : A Motion Planning Benchmark for Wheeled Mobile Robots
- 2021
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Ingår i: IEEE Robotics and Automation Letters. - : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 6:3, s. 4536-4543
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Tidskriftsartikel (refereegranskat)abstract
- Planning smooth and energy-efficient paths for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, several sampling-based motion-planning algorithms, extend functions and post-smoothing algorithms have been introduced for such motion-planning systems. Choosing the best combination of components for an application is a tedious exercise, even for expert users. We therefore present Bench-MR, the first open-source motion-planning benchmarking framework designed for sampling-based motion planning for nonholonomic, wheeled mobile robots. Unlike related software suites, Bench-MR is an easy-to-use and comprehensive benchmarking framework that provides a large variety of sampling-based motion-planning algorithms, extend functions, collision checkers, post-smoothing algorithms and optimization criteria. It aids practitioners and researchers in designing, testing, and evaluating motion-planning systems, and comparing them against the state of the art on complex navigation scenarios through many performance metrics. Through several experiments, we demonstrate how Bench-MR can be used to gain extensive insights from the benchmarking results it generates.
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| 2. |
- Holbech, Henrik, et al.
(författare)
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Comparison of zebrafish (Danio rerio) and fathead minnow (Pimephales promelas) as test species in the Fish Sexual Development Test (FSDT).
- 2012
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Ingår i: Comparative Biochemistry and Physiology - Part C. - : Elsevier BV. - 1532-0456 .- 1878-1659. ; 155:2, s. 407-15
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Tidskriftsartikel (refereegranskat)abstract
- Results are presented from a validation (with 5 laboratories) of the Fish Sexual Development Test (FSDT) developed to detect endocrine disrupters (EDs) and included in the OECD (Organisation for Economic Co-operation and Development) working program. The aromatase-inhibiting fungicide prochloraz was tested in zebrafish (Danio rerio) and fathead minnow (Pimephales promelas). The fish were exposed during sexual differentiation and development from 0 to 60 days post hatch (dph). After exposure, the vitellogenin (VTG) concentrations were quantified in head/tail homogenate and the sex ratio was determined (defined as female, male, intersex or undifferentiated). NOEC/LOEC and EC(x) designs were compared to optimize the test approach. Results show that both species are highly sensitive to prochloraz during sexual development. They respond by skewing of the sex ratio towards male phenotype and by a VTG decline in females. The NOEC/LOEC approach is preferred because sex ratio is difficult to analyze with a regression model. The mean NOEC/LOEC for prochloraz on the sex ratio was 43.3/134 μg/L and 101/293 μg/L for zebrafish and fathead minnow, respectively. The mean NOEC/LOEC on the decline in female VTG concentration was 65/110 μg/L and ~30/68 μg/L respectively. In conclusion, zebrafish and fathead minnow are suitable species in the FSDT and their sexual differentiation is equally labile to EDs.
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