This paper addresses the optimization of paths generated using randomized algorithms. We shall present an iterative algorithm to optimize raw paths. However, unlike local post-processing optimizers, ...our method aims at a more global optimization of the initial path, if possible, performing a drastic topological update, but instead of re-planning in the whole robot configuration space (
C
), it uses the initial path to limit the search within an optimal subset of
C
. Should a better solution be found, the subspace is further reduced. A lazy A
∗ search is used to efficiently search the graph representing the optimal subspace connectivity. The algorithm is designed to achieve a satisfactory and general optimization, while remaining computationally attractive. This paper also exposes some of the issues associated with shortcuts-like post-processing algorithms, namely, the problem of local shortcuts and their effect on the final solution. In order to assess the performance of this iterative re-planning algorithm, it is compared to the well established random shortcuts technique. Extensive experimental results are provided, these include different optimization criteria, a variety of robotic systems and environments, and different statistical measures.
► An Iterative Local Re-planning algorithm for post-optimizing randomized paths. ► The algorithm is computationally competitive with local methods but less sensitive to initial solutions. ► A lazy collision checking A
∗ graph search algorithm. ► A generic path optimization technique, with respect to the cost function or robot type.
A dedicated front-end electronics has been developed for the trigger chambers of the ALICE muon spectrometer under construction at the future LHC at CERN. This trigger detector is based on RPCs ...(Resistive Plate Chambers) working in streamer mode. The number of electronics channels (about 21000) and the fact that RPC signals have specific characteristics have led to the design of an 8 channel front-end ASIC using a new discrimination technique. The principle of the ASIC is described and the radiation hardness is discussed. Special emphasis is put on production characteristics of about 4000 ASICs.
Resistive Plate Chambers operated in streamer mode have been chosen as trigger detectors for the forward dimuon spectrometer of the ALICE experiment. During tests performed at CERN PS, small size ...prototypes with low-resistivity bakelite electrodes and with a strongly quenched gas mixture have shown the required rate capability, tracking and timing properties. Present efforts are devoted to the study of the detector performance after long irradiation periods. In this paper, a summary of the results of aging tests performed at the Gamma Irradiation Facility at CERN will be presented. Detectors show quite stable performance up to about 50mC/cm2, as the requirements for 10years operation program at LHC including a safety factor of 2. Afterwards, we observed an increase of the dark current not associated with an increase of the counting rate. We also report results of chemical analysis carried out by different CERN teams on exhaust gases and electrode surfaces of the detectors after aging.
The production of muons from heavy-flavour hadron decays in p-Pb collisions at $\sqrt{{\textit s}_{\rm NN}}=5.02$ TeV was studied for $2 < p_{\rm T} < 16$ GeV/$c$ with the ALICE detector at the CERN ...LHC. The measurement was performed at forward (p-going direction) and backward (Pb-going direction) rapidity, in the ranges of rapidity in the center-of-mass system (cms) $2.03<y_{\rm cms}<3.53$ and $-4.46<y_{\rm cms}<-2.96$, respectively. The production cross sections and nuclear modification factors are presented as a function of transverse momentum ($p_{\rm T}$). At forward rapidity, the nuclear modification factor is compatible with unity while at backward rapidity, in the interval $2.5<p_{\rm T}<3.5$ GeV/$c$, it is above unity by more than 2$\sigma$. The ratio of the forward-to-backward production cross sections is also measured in the overlapping interval $2.96 < \vert y_{\rm cms} \vert < 3.53$ and is smaller than unity by 3.7$\sigma$ in $2.5<p_{\rm T}<3.5$ GeV/$c$. The data are described by model calculations including cold nuclear matter effects.
The inclusive J/$\psi$ production has been studied in Pn-Pb and pp collisions at the centre-of-mass energy per nucleon pair $\sqrt{s_{\rm NN}}=5.02$ TeV, using the ALICE detector at the CERN LHC. The ...J/$\psi$ meson is reconstructed, in the centre-of-mass rapidity interval $2.5<y<4$ and in the transverse-momentum range $p_{\rm T}<12$ GeV/$c$, via its decay to a muon pair. In this Letter, we present results on the inclusive J/$\psi$ cross section in pp collisions at $\sqrt{s}=5.02$ TeV and on the nuclear modification factor $R_{\rm AA}$. The latter is presented as a function of the centrality of the collision and, for central collisions, as a function of the transverse momentum $p_{\rm T}$ of the J/$\psi$. The measured $R_{\rm AA}$ values indicate a suppression of the J/$\psi$ in nuclear collisions and are then compared to our previous results obtained in Pb-Pb collisions at $\sqrt{s_{\rm NN}}=2.76$ TeV. The ratio of the $R_{\rm AA}$ values at the two energies is also computed and compared to calculations of statistical and dynamical models. The numerical value of the ratio for central events (0-10\% centrality) is $1.17 \pm 0.04 {\rm{(stat)}}\pm 0.20 {\rm{(syst)}}$. In central events, as a function of $p_{\rm T}$, a slight increase of $R_{\rm AA}$ with collision energy is visible in the region $2<p_{\rm T}<6$ GeV/$c$. Theoretical calculations provide a good description of the measurements, within uncertainties.
The production of beauty hadrons was measured via semi-leptonic decays at mid-rapidity with the ALICE detector at the LHC in the transverse momentum interval $1<p_{\rm T}<8$ GeV/$c$ in minimum-bias ...p-Pb collisions at $\sqrt{s_{\rm NN}}=5.02$ TeV and in $1.3<p_{\rm T}<8$ GeV/$c$ in the 20% most central Pb-Pb collisions at $\sqrt{s_{\rm NN}}=2.76$ TeV. The pp reference spectra at $\sqrt{s}=5.02$ TeV and $\sqrt{s}=2.76$ TeV, needed for the calculation of the nuclear modification factors $R_{\rm pPb}$ and $R_{\rm PbPb}$, were obtained by a pQCD-driven scaling of the cross section of electrons from beauty-hadron decays measured at $\sqrt{s}=7$ TeV. The $R_{\rm PbPb}$ is about 0.7 with an uncertainty of about 30% in the interval $3<p_{\rm T}<6$ GeV/$c$ and 0.47 with an uncertainty of 25% in $6<p_{\rm T}<8$ GeV/$c$ in Pb-Pb collisions. Below $p_{\rm T}=3$ GeV/$c$, the $R_{\rm PbPb}$ values increase with decreasing transverse momentum with systematic uncertainties of 30-45%. The $R_{\rm pPb}$ is consistent with unity within systematic uncertainties of about 20% at high $p_{\rm T}$, increasing at low $p_{\rm T}$, and is well described by theoretical calculations that include cold nuclear matter effects in p-Pb collisions. The measured $R_{\rm pPb}$ and these calculations indicate that cold nuclear matter effects are small at high transverse momentum also in Pb-Pb collisions. Therefore, the observed reduction of $R_{\rm PbPb}$ below unity for high $p_{\rm T}$ can be ascribed to an effect of the hot and dense medium formed in Pb-Pb collisions.
A detailed study of pseudorapidity densities and multiplicity distributions of primary charged particles produced in proton-proton collisions, at $\sqrt{s} =$ 0.9, 2.36, 2.76, 7 and 8 TeV, in the ...pseudorapidity range $|\eta|<2$, was carried out using the ALICE detector. Measurements were obtained for three event classes: inelastic, non-single diffractive and events with at least one charged particle in the pseudorapidity interval $|\eta|<1$. The use of an improved track-counting algorithm combined with ALICE's measurements of diffractive processes allows a higher precision compared to our previous publications. A KNO scaling study was performed in the pseudorapidity intervals $|\eta|<$ 0.5, 1.0 and 1.5. The data are compared to other experimental results and to models as implemented in Monte Carlo event generators PHOJET and recent tunes of PYTHIA6, PYTHIA8 and EPOS.
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