Mike Phillips

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Robotic path planning in static environments is a thoroughly studied problem that can typically be solved very efficiently. However, planning in the presence of dynamic obstacles is still computationally challenging because it requires adding time as an additional dimension to the search-space explored by the planner. In order to avoid the increase in the(More)
Many robotic systems are comprised of two or more arms. Such systems range from dual-arm household manipulators to factory floors populated with a multitude of industrial robotic arms. While the use of multiple arms increases the productivity of the system and extends dramatically its workspace, it also introduces a number of challenges. One such challenge(More)
Human environments possess a significant amount of underlying structure that is under-utilized in motion planning and mobile manipulation. In domestic environments for example, walls and shelves are static, large objects such as furniture and kitchen appliances most of the time do not move and do not change, and objects are typically placed on a limited(More)
AIMS The School Health and Alcohol Harm Reduction Project (SHAHRP study) aimed to reduce alcohol-related harm in secondary school students. DESIGN The study used a quasi-experimental research design in which randomly selected and allocated intervention and comparison groups were assessed at eight, 20 and 32 months after baseline. SETTING Metropolitan,(More)
In this paper, we introduce the new paradigm used in the most recent ARPA-sponsored Continuous Speech Recognition (CSR) evaluation and then discuss the important features of the test design. The 1993 CSR evaluation was organized in a novel fashion in an attempt to accomodate research over a broad variety of important problems in CSR while maintaining a(More)
Collision-free navigation in cluttered environments is essential for any mobile manipulation system. Traditional navigation systems have relied on a 2D grid map projected from a 3D representation for efficiency. This approach, however, prevents navigation close to objects in situations where projected 3D configurations are in collision within the 2D grid(More)
Path planning in dynamic environments is significantly more difficult than navigation in static spaces due to the increased dimensionality of the problem, as well as the importance of returning good paths under time constraints. Anytime planners are ideal for these types of problems as they find an initial solution quickly and then improve it as time(More)
Molecular geometric properties, such as volume, exposed surface area, and occurrence of internal cavities, are important inputs to many applications in molecular modeling. In this work we describe a very general and highly efficient approach for the accurate computation of such properties, which is applicable to arbitrary molecular surface models. The(More)
OBJECTIVE A population-based case-control design was employed to quantify the risk of injury after consumption of alcohol as a function of setting, concurrent activity and usual drinking habits. METHOD A total of 797 cases (66.6% men) and 797 controls (57.7% women) were interviewed. The response rate was 83% for eligible cases approached for an interview.(More)