Physical Sciences and Mathematics Commons^™

Selective Complexation And Reactivity Of Metallic Nitride And Oxometallic Fullerenes With Lewis Acids And Use As An Effective Purification Method, Steven Stevenson, Mary A. Mackey, Jane E. Pickens, Melissa A. Stuart, Bridget S. Confait, J. Paige Phillips

Faculty Publications

Metallic nitride fullerenes (MNFs) and oxometallic fullerenes (OMFs) react quickly with an array of Lewis acids. Empty-cage fullerenes are largely unreactive under conditions used in this study. The reactivity order is Sc₄O₂@I_h-C₈₀ > Sc₃N@C₇₈ > Sc₃N@C₆₈ > Sc₃N@D_5h-C₈₀ > Sc₃N@I_h-C₈₀. Manipulations of Lewis acids, molar ratios, and kinetic differences within the family of OMF and MNF metallofullerenes are demonstrated in a selective precipitation scheme, which can be used either alone for purifying Sc₃N@I_{h …}

Measured Optical Constants Of Copper From 10 Nm To 35 Nm, David D. Allred, Nicole Brimhall, Nicholas Herrick, Justin Peatross, R. Steven Turley, Michael Ware

Faculty Publications

We use laser high-order harmonics and a polarization-ratioreflectance technique to determine the optical constants of copper and oxidized copper in the wavelength range 10-35 nm. This measurement resolves previously conflicting data sets, where disagreement on optical constants of copper in the extreme ultraviolet most likely arises from inadvertent oxidation of samples before measurement.

Rfx2 Is A Candidate Downstream Amplifier Of A-Myb Regulation In Mouse Spermatogenesis, Gary C. Horvath, Malathi K. Kistler, Wilson Stephen Kistler

Faculty Publications

Background: Mammalian spermatogenesis involves formation of haploid cells from the male germline and then a complex morphological transformation to generate motile sperm. Focusing on meiotic prophase, some tissue-specific transcription factors are known (A-MYB) or suspected (RFX2) to play important roles in modulating gene expression in pachytene spermatocytes. The current work was initiated to identify both downstream and upstream regulatory connections for Rfx2.

Results: Searches of pachytene up-regulated genes identified high affinity RFX binding sites (X boxes) in promoter regions of several new genes: Adam5, Pdcl2, and Spag6. We confirmed a strong promoter-region X-box for Alf, a germ cell-specific variant of …

Fused Visible And Infrared Video For Use In Wilderness Search And Rescue, Dennis Eggett, Michael A. Goodrich, Bryan S. Morse, Nathan Rasmussen

Faculty Publications

Mini Unmanned Aerial Vehicles (mUAVs) have the potential to assist Wilderness Search and Rescue groups by providing a bird’s eye view of the search area. This paper proposes a method for augmenting visible-spectrum searching with infrared sensing in order to make use of thermal search clues. It details a method for combining the color and heat information from these two modalities into a single fused display to reduce needed screen space for remote field use. To align the video frames for fusion, a method for simultaneously pre-calibrating the intrinsic and extrinsic parameters of the cameras and their mount using a …

Structured P2p Technologies For Distributed Command And Control, Daniel R. Karrels, Gilbert L. Peterson, Barry E. Mullins

Faculty Publications

The utility of Peer-to-Peer (P2P) systems extends far beyond traditional file sharing. This paper provides an overview of how P2P systems are capable of providing robust command and control for Distributed Multi-Agent Systems (DMASs). Specifically, this article presents the evolution of P2P architectures to date by discussing supporting technologies and applicability of each generation of P2P systems. It provides a detailed survey of fundamental design approaches found in modern large-scale P2P systems highlighting design considerations for building and deploying scalable P2P applications. The survey includes unstructured P2P systems, content retrieval systems, communications structured P2P systems, flat structured P2P systems and …

Non-Negative Steady State Solutions To An Elliptic Biological Model, Brian Ibanez, Joon Hyuk Kang, Jungho Lee

Faculty Publications

The non-existence and existence of positive solutions for the generalized predator-prey biological model for two species of animals Δu + ug(u,v) = 0 in Ω, Δv + vh(u,v) = 0 in Ω, u = v = 0 on ∂Ω, is investigated in this paper. The techniques used in this paper are from elliptic theory, the upper-lower solution method, the maximum principles and spectrum estimates. The arguments also rely on detailed properties of solutions to logistic equations. © 2009 Academic Publications.

A Construction Of Lagrangian Submanifolds In Complex Euclidean Spaces With Legendre Curves, Yun Myung Oh

Faculty Publications

In [1], B. Y. Chen provided a new method to construct Lagrangian surfaces in C2 by using Legendre curves in S3(1)C2. In this paper, we investigate the similar methods to construct some Lagrangian submanifolds in complex Euclidean spaces Cn (n≥b3).

Empirical Mode Decomposition Operator For Dewowing Gpr Data, Bradley M. Battista, Adrian Addison, Camelia C. Knapp

Faculty Publications

Signal processing tools available to ground penetrating radar data used for shallow subsurface imaging and hydrogeophysical parameter estimation are significantly handled using the same tools available to seismic reflection data. Overall, the same tools produce interpretable images from both data types, but particular noise (wow noise) in electromagnetic data must be removed before stable and accurate quantitative results can be produced. Wow noise is an inherent, nonlinear electromagnetic interference and a significant component of GPR data. Further, the nonlinear and non-stationary nature of wow noise provides a strong argument for preprocessing radar traces with time-domain operators. Time-domain operators designed for …

Improved Hydrogeophysical Parameter Estimation From Empirical Mode Decomposition Processed Ground Penetrating Radar Data, Adrian Addison, Bradley M. Battista, Camelia C. Knapp

Faculty Publications

Various techniques have been designed to maximize the use of ground penetrating radar (GPR) as an exploration tool. Improvements in signal processing are expected to further facilitate the accuracy of parameters derived from using GPR in certain geologic environments. Common-offset GPR data were collected at the Marine Corps Air Station (MCAS) in Beaufort, South Carolina, and dielectric constants were calculated following the application of the empirical mode decomposition (EMD) for dewowing GPR traces. Conventional signal processing is applied to the GPR traces to provide hydrogeophysical parameter estimates such as volumetric water content, porosity, and hydraulic conductivity. The results are validated …

Gpu-Accelerated Hierarchical Dense Correspondence For Real-Time Aerial Video Processing, Stephen Cluff, Bryan S. Morse, Jonathan D. Cohen, Mark Duchaineau

Faculty Publications

Video from aerial surveillance can provide a rich source of data for many applications and can be enhanced for display and analysis through such methods as mosaic construction, super-resolution, and mover detection. All of these methods require accurate frame-to-frame registration, which for live use must be performed in real time. In many situations, scene parallax may make alignment using global transformations impossible or error-prone, limiting the performance of subsequent processing and applications. For these cases, dense (per-pixel) correspondence is required, but this can be computationally prohibitive. This paper presents a hierarchical dense correspondence algorithm designed for implementation on graphics processing …

Multi-Leptons With High Transverse Momentum At Hera, F. D. Aaron, H. Abramowicz, I. Abt, L. Adamczyk, M. Adamus, M. Aldaya Martin, C. Alexa, K. Alimujiang, V. Andreev, S. Antonelli, P. Antonioli, A. Antonov, B. Antunovic, M. Arneodo, A. Asmone, V. Aushev, O. Bachynska, S. Backovic, A. Baghdasaryan, A. Bamberger, A. N. Barakbaev, G. Barbagli, G. Bari, F. Barreiro, E. Barrelet, W. Bartel, D. Bartsch, M. Basile, K. Begzsuren, O. Behnke, J. Behr, Margarita C. K. Mattingly

Faculty Publications

Events with at least two high transverse momentum leptons (electrons or muons) are studied using the H1 and ZEUS detectors at HERA with an integrated luminosity of 0.94 fb-1. The observed numbers of events are in general agreement with the Standard Model predictions. Seven di- and tri-lepton events are observed in e+p collision data with a scalar sum of the lepton transverse momenta above 100GeV while 1.94 ± 0.17 events are expected. Such events are not observed in e-p collisions for which 1.19 ± 0.12 are predicted. Total visible and differential di-electron and di-muon photoproduction cross sections are extracted in …

Measurement Of J/Ψ Helicity Distributions In Inelastic Photoproduction At Hera, S. Chekanov, M. Derrick, S. Magill, B. Musgrave, D. Nicholass, J. Repond, R. Yoshida, Margarita C. K. Mattingly, P. Antonioli, G. Bari, L. Bellagamba, D. Boscherini, A. Bruni, G. Bruni, F. Cindolo, M. Corradi, G. Iacobucci, A. Margotti, R. Nania, A. Polini, S. Antonelli, M. Basile, M. Bindi, L. Cifarelli, A. Contin, S. De Pasquale, G. Sartorelli, A. Zichichi, D. Bartsch, I. Brock, H. Hartmann

Faculty Publications

The J/ψ decay angular distributions have been measured in inelastic photo-production in ep collisions with the ZEUS detector at HERA, using an integrated luminosity of 468 pb-1. The range in photon-proton centre-of-mass energy, W, was 50 < W < 180 GeV. The J/ψ mesons were identified through their decay into muon pairs. The polar and azimuthal angles of the μ+ were measured in the J/ψ rest frame and compared to theoretical predictions at leading and next-to-leading order in QCD. © SISSA 2009.

Leading Proton Production In Deep Inelastic Scattering At Hera, S. Chekanov, M. Derrick, S. Magill, B. Musgrave, D. Nicholass, J. Repond, R. Yoshida, Margarita Mattingly, P. Antonioli, G. Bari, L. Bellagamba, D. Boscherini, A. Bruni, G. Bruni, G. Cara Romeo, F. Cindolo, M. Corradi, P. Giusti, G. Iacobucci, A. Margotti, T. Massam, R. Nania, A. Polini, S. Antonelli, M. Basile, M. Bindi, L. Cifarelli, A. Contin, F. Palmonari, S. De Pasquale, G. Sartorelli

Faculty Publications

The semi-inclusive reaction e+p→e+Xp was studied with the ZEUS detector at HERA with an integrated luminosity of 12.8 pb -1. The final-state proton, which was detected with the ZEUS leading proton spectrometer, carried a large fraction of the incoming proton energy, xL > 0.32, and its transverse momentum squared satisfied p 2T < 0.5GeV2; the exchanged photon virtuality, Q2, was greater than 3GeV2 and the range of the masses of the photon-proton system was 45 < W < 225GeV. The leading proton production cross section and rates are presented as a function of xL, p2 T , Q2 and the Bjorken scaling variable, x. © SISSA 2009.

A Measurement Of Coherent Neutral Pion Production In Neutrino Neutral Current Interactions In The Nomad Experiment, C. T. Kullenberg, S. R. Mishra, M. B. Seaton, J. J. Kim, X. C. Tian, A. M. Scott, M. Kirsanov, Roberto Petti, S. Alekhin, P. Astier, D. Autiero, A. Baldisseri, M. Baldo-Ceolin, M. Banner, G. Bassompierre, K. Benslama, N. Besson, I. Bird, B. Blumenfeld, F. Bobisut, Et. Al.

Faculty Publications

We present a study of exclusive neutral pion production in neutrino–nucleus Neutral Current interactions using data from the NOMAD experiment at the CERN SPS. The data correspond to 1.44 X 10⁶ muon-neutrino Charged Current interactions in the energy range 2.5 ≤ E _v & ≤ 300GeV. Neutrino events with only one visible π⁰ in the final state are expected to result from two Neutral Current processes: coherent π⁰ production, v + A

Measurement Of The Longitudinal Proton Structure Function At Hera, S. Chekanov, M. Derrick, S. Magill, B. Musgrave, D. Nicholass, J. Repond, R. Yoshida, Margarita C. K. Mattingly, P. Antonioli, G. Bari, L. Bellagamba, D. Boscherini, A. Bruni, G. Bruni, F. Cindolo, M. Corradi, G. Iacobucci, A. Margotti, R. Nania, A. Polini, S. Antonelli, M. Basile, M. Bindi, L. Cifarelli, A. Contin, S. De Pasquale, G. Sartorelli, A. Zichichi, D. Bartsch, I. Brock, H. Hartmann

Faculty Publications

The reduced cross sections for ep deep inelastic scattering have been measured with the ZEUS detector at HERA at three different centre-of-mass energies, 318, 251 and 225 GeV. From the cross sections, measured double differentially in Bjorken x and the virtuality, Q 2, the proton structure functions F L and F 2 have been extracted in the region 5 × 10 - 4 < x < 0.007 and 20 < Q 2 < 130 GeV 2. © 2009 Elsevier B.V.

Search For Gravitational-Wave Bursts In The First Year Of The Fifth Ligo Science Run, B. P. Abbott, R. Abbott, R. Adhikari, P. Ajith, B. Allen, G. Allen, R. S. Amin, S. B. Anderson, W. G. Anderson, M. A. Arain, M. Araya, H. Armandula, P. Armor, Y. Aso, S. Aston, P. Aufmuth, C. Aulbert, S. Babak, P. Baker, S. Ballmer, C. Barker, D. Barker, B. Barr, P. Barriga, L. Barsotti, M. A. Barton, I. Bartos, R. Bassiri, M. Bastarrika, B. Behnke, M. Benacquista, Tiffany Z. Summerscales

Faculty Publications

We present the results obtained from an all-sky search for gravitational-wave (GW) bursts in the 64-2000 Hz frequency range in data collected by the LIGO detectors during the first year (November 2005-November 2006) of their fifth science run. The total analyzed live time was 268.6 days. Multiple hierarchical data analysis methods were invoked in this search. The overall sensitivity expressed in terms of the root-sum-square (rss) strain amplitude hrss for gravitational-wave bursts with various morphologies was in the range of 6×10-22Hz-1/2 to a few×10-21Hz-1/2. No GW signals were observed and a frequentist upper limit of 3.75 events per year on …

Search For High Frequency Gravitational-Wave Bursts In The First Calendar Tear Of Ligo's Fifth Science Run, B. P. Abbott, R. Abbott, R. Adhikari, P. Ajith, B. Allen, G. Allen, R. S. Amin, S. B. Anderson, W. G. Anderson, M. A. Arain, M. Araya, H. Armandula, P. Armor, Y. Aso, S. Aston, P. Aufmuth, C. Aulbert, S. Babak, P. Baker, S. Ballmer, C. Barker, D. Barker, B. Barr, P. Barriga, L. Barsotti, M. A. Barton, I. Bartos, R. Bassiri, M. Bastarrika, B. Behnke, M. Benacquista, Tiffany Z. Summerscales

Faculty Publications

We present an all-sky search for gravitational waves in the frequency range 1 to 6 kHz during the first calendar year of LIGO's fifth science run. This is the first untriggered LIGO burst analysis to be conducted above 3 kHz. We discuss the unique properties of interferometric data in this regime. 161.3 days of triple-coincident data were analyzed. No gravitational events above threshold were observed and a frequentist upper limit of 5.4year-1 on the rate of strong gravitational-wave bursts was placed at a 90% confidence level. Implications for specific theoretical models of gravitational-wave emission are also discussed. © 2009 The …

Classifying Sentence-Based Summaries Of Web Documents, Yiu-Kai D. Ng, Maria Soledad Pera

Faculty Publications

Text classification categorizes Web documents in large collections into predefined classes based on their contents. Unfortunately, the classification process can be time-consuming and users are still required to spend considerable amount of time scanning through the classified Web documents to identify the ones that satisfy their information needs. In solving this problem, we first introduce CorSum, an extractive single-document summarization approach, which is simple and effective in performing the summarization task, since it only relies on word similarity to generate high-quality summaries. Hereafter, we train a Naïve Bayes classifier on CorSum-generated summaries and verify the classification accuracy using the summaries …

Validity Of The Spin-Susceptibility “Glue” Approximation For Pairing In The Two-Dimensional Hubbard Model, Ehsan Khatami, A. Macridin, M. Jarrell

Faculty Publications

We examine the validity of the weak-coupling spin-susceptibility “glue” approximation (SSGA) in a two-dimensional Hubbard model for cuprates. For comparison, we employ the well-established dynamical cluster approximation (DCA) with a quantum Monte Carlo algorithm as a cluster solver. We compare the leading eigenvalues and corresponding eigenfunctions of the DCA and SSGA pairing matrices. For realistic model parameters, we find that the SSGA fails to capture the leading pairing symmetries seen in the DCA. Furthermore, when the SSGA is improved through the addition of a term with d-wave symmetry, the strength of this additional term is found to be larger than …

Chemalign: Biologically Relevant Multiple Sequence Alignment Using Physicochemical Properties, Hyrum Carroll, Mark J. Clement, Quinn O. Snell, David Mcclellan

Faculty Publications

We present a new algorithm, ChemAlign, that uses physicochemical properties and secondary structure elements to create biologically relevant multiple sequence alignments (MSAs). Additionally, we introduce the Physicochemical Property Difference (PPD) score for the evaluation of MSAs. This score is the normalized difference of physicochemical property values between a calculated and a reference alignment. It takes a step beyond sequence similarity and measures characteristics of the amino acids to provide a more biologically relevant metric. ChemAlign is able to produce more biologically correct alignments and can help to identify potential drug docking sites.

Mcc: A Runtime Verification Tool For Mcapi User Applications, Eric G. Mercer, Ganesh Gopalakrishnan, Jim Holt, Subodh Sharma

Faculty Publications

We present a dynamic verification tool MCC for Multicore Communication API applications – a new API for communication among cores. MCC systematically explores all relevant interleavings of an MCAPI application using a tailormade dynamic partial order reduction algorithm (DPOR). Our contributions are (i) a way to model the non-overtaking message matching relation underlying MCAPI calls with a high level algorithm to effect DPOR for MCAPI that controls the lower level details so that the intended executions happen at runtime; and (ii) a list of default safety properties that can be utilized in the process of verification. To our knowledge, this …

Wavepacket Approach To The Cumulative Reaction Probability Within The Flux Operator Formalism, Sophya Garashchuk, Tijo Vazhappilly

Faculty Publications

Expressions for the singular flux operator eigenfunctions and eigenvalues are given in terms of the Dirac δ-function representable as a localized Gaussian wavepacket. This functional form enables computation of the cumulative reaction probability N(E) from the wavepacket time-correlation functions. The Gaussian based form of the flux eigenfunctions, which is not tied to a finite basis of a quantum-mechanical calculation, is particularly useful for approximate calculation of N(E) with the trajectory based wavepacket propagation techniques. Numerical illustration is given for the Eckart barrier using the conventional quantum-mechanical propagation and the quantum trajectory dynamics with the approximate quantum potential. N(E) converges with …

Scaled Momentum Distributions Of Charged Particles In Dijet Photoproduction At Hera, O. Behnke, J. Behr, U. Behrens, C. Blohm, K. Borras, D. Bot, R. Ciesielski, N. Coppola, S. Fang, A. Geiser, P. Gölttlicher, J. Grebenyuk, I. Gregor, T. Haas, W. Hain, A. Hüttmann, F. Januschek, B. Kahle, I. I. Katkov, U. Klein, U. Kötz, H. Kowalski, M. Lisovyi, E. Lobodzinska, B. Löhr, R. Mankel, I. A. Melzer-Pellmann, S. Miglioranzi, A. Montanari, T. Namsoo, D. Notz, Margarita C. K. Mattingly

Faculty Publications

The scaled momentum distributions of charged particles in jets have been measured for dijet photoproduction with the ZEUS detector at HERA using an integrated luminosity of 359 pb-1. The distributions are compared to predictions based on perturbative QCD carried out in the framework of the modified leading-logarithmic approximation (MLLA) and assuming local parton-hadron duality (LPHD). The universal MLLA scale, Λeff, and the LPHD parameter, κch, are extracted. © SISSA 2009.

Radiatively Induced Lorentz And Gauge Symmetry Violation In Electrodynamics With Varying Alph A, Alejandro Ferrero, Brett David Altschul

Faculty Publications

A time-varying fine structure constant α(t) could give rise to Lorentz- and CPT-violating changes to the vacuum polarization, which would affect photon propagation. Such changes to the effective action can violate gauge invariance, but they are otherwise permitted. However, in the minimal theory of varying α, no such terms are generated at lowest order. At second order, vacuum polarization can generate an instability—a Lorentz-violating analogue of a negative photon mass squared −m²γ∝α(˙α2α)²log(Λ²), where Λ is the cutoff for the low-energy effective theory.

Thermodynamics Of The Quantum Critical Point At Finite Doping In The Two-Dimensional Hubbard Model Studied Via The Dynamical Cluster Approximation, K. Mikelsons, Ehsan Khatami, D. Galanakis, A. Macridin, J. Moreno, M. Jarrell

Faculty Publications

We study the thermodynamics of the two-dimensional Hubbard model within the dynamical cluster approximation. We use continuous time quantum Monte Carlo as a cluster solver to avoid the systematic error which complicates the calculation of the entropy and potential energy (double occupancy). We find that at a critical filling, there is a pronounced peak in the entropy divided by temperature, S/T, and in the normalized double occupancy as a function of doping. At this filling, we find that specific heat divided by temperature, C/T, increases strongly with decreasing temperature and kinetic and potential energies vary like T2 ln T. These …

Livecut: Learning-Based Interactive Video Segmentation By Evaluation Of Multiple Propagated Cues, Bryan S. Morse, Brian L. Price, Scott Cohen

Faculty Publications

Video sequences contain many cues that may be used to segment objects in them, such as color, gradient, color adjacency, shape, temporal coherence, camera and object motion, and easily-trackable points. This paper introduces LIVEcut, a novel method for interactively selecting objects in video sequences by extracting and leveraging as much of this information as possible. Using a graph-cut optimization framework, LIVEcut propagates the selection forward frame by frame, allowing the user to correct any mistakes along the way if needed. Enhanced methods of extracting many of the features are provided. In order to use the most accurate information from the …

Subjet Distributions In Deep Inelastic Scattering At Hera, S. Chekanov, M. Derrick, S. Magill, B. Musgrave, D. Nicholass, J. Repond, R. Yoshida, Margarita C. K. Mattingly, P. Antonioli, G. Bari, L. Bellagamba, D. Boscherini, A. Bruni, G. Bruni, F. Cindolo, M. Corradi, G. Iacobucci, A. Margotti, R. Nania, A. Polini, S. Antonelli, M. Basile, M. Bindi, L. Cifarelli, A. Contin, S. De Pasquale, G. Sartorelli, A. Zichichi, D. Bartsch, I. Brock, H. Hartmann

Faculty Publications

Subjet distributions were measured in neutral current deep inelastic ep scattering with the ZEUS detector at HERA using an integrated luminosity of 81.7 pb-1. Jets were identified using the k T cluster algorithm in the laboratory frame. Subjets were defined as jet-like substructures identified by a reapplication of the cluster algorithm at a smaller value of the resolution parameter ycut. Measurements of subjet distributions for jets with exactly two subjets for ycut=0.05 are presented as functions of observables sensitive to the pattern of parton radiation and to the colour coherence between the initial and final states. Perturbative QCD predictions give …

Dynamic Coalition Formation Under Uncertainty, Daylon J. Hooper, Gilbert L. Peterson, Brett J. Borghetti

Faculty Publications

Coalition formation algorithms are generally not applicable to real-world robotic collectives since they lack mechanisms to handle uncertainty. Those mechanisms that do address uncertainty either deflect it by soliciting information from others or apply reinforcement learning to select an agent type from within a set. This paper presents a coalition formation mechanism that directly addresses uncertainty while allowing the agent types to fall outside of a known set. The agent types are captured through a novel agent modeling technique that handles uncertainty through a belief-based evaluation mechanism. This technique allows for uncertainty in environmental data, agent type, coalition value, and …

Rc-Chord: Resource Clustering In A Large-Scale Hierarchical Peer-To-Peer System, Daniel R. Karrels, Gilbert L. Peterson, Barry E. Mullins

Faculty Publications

Conducting data fusion and Command and Control (C2) in large-scale systems requires more than the presently available Peer-to-Peer (P2P) technologies provide. Resource Clustered Chord (RC-Chord) is an extension to the Chord protocol that incorporates elements of a hierarchical peer-to-peer architecture to facilitate coalition formation algorithms in large-scale systems. Each cluster in this hierarchy represents a particular resource available for allocation, and RC-Chord provides the capabilities to locate agents of a particular resource. This approach improves upon other strategies by including support for abundant resources, or those resources that most or all agents in the system possess. This scenario exists in …

Versatile Reactive Navigation, Robert P. Burton, Luther A. Tychonievich, Louis P. Tychonievich

Faculty Publications

Most autonomous mobile agents operate in a highly constrained environment. Despite significant research, existing solutions are limited in their ability to handle heterogeneous constraints within highly dynamic or uncertain environments. This paper presents a novel maneuver selection technique suited for both 2D and 3D environments with highly dynamic maneuvering constraints and multiple mobile obstacles. Agents may have any arbitrary set of nonholonomic control variables; maneuvers can be constrained by a broad class of function inequalities, including time-dependent constraints involving nonlinear relationships between controlled and agent-state variables. The resulting algorithm has been implemented to run in real time using only a …